Merge pull request #41 from Rione:fix/filtered_pos

⚠️ use filtered value
Rione · Jul 6, 2024 · 8e5e373 · 8e5e373
2 parents 97118b9 + 9cf985c
commit 8e5e373
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/visionreceive.go b/visionreceive.go
@@ -453,10 +453,10 @@ func VisionReceive(chvision chan bool, port int, ourteam int, goalpos int, simmo
 					mm_y[i] = kalman.NewMeasurementAtTime(t, modelBallY.NewMeasurement(float64(v)))
 				}
 
-				// filtered_ball_x = float32(modelBallX.Value(filterBallX.State()))
-				// filtered_ball_y = float32(modelBallY.Value(filterBallY.State()))
-				filtered_ball_x = ball.GetX()
-				filtered_ball_y = ball.GetY()
+				filtered_ball_x = float32(modelBallX.Value(filterBallX.State()))
+				filtered_ball_y = float32(modelBallY.Value(filterBallY.State()))
+				// filtered_ball_x = ball.GetX()
+				// filtered_ball_y = ball.GetY()
 
 			}