From fde77e106cfc8d461aeb62cb1c9e6cad2ed62e5d Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@wilcoxflp.com>
Date: Tue, 28 Mar 2023 10:39:46 -0400
Subject: [PATCH] Expose photonVision classes

---
 lib/publish.gradle                                |  2 +-
 .../poe/CameraTracking/RobotFieldPosition.java    | 15 ++++++++++-----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/lib/publish.gradle b/lib/publish.gradle
index 76eaee3..9722519 100644
--- a/lib/publish.gradle
+++ b/lib/publish.gradle
@@ -4,7 +4,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2023.3.2'
+def pubVersion = '2023.3.3'
 
 def outputsFolder = file("$buildDir/allOutputs")
 
diff --git a/lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/RobotFieldPosition.java b/lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/RobotFieldPosition.java
index 45a8566..cf87bf5 100644
--- a/lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/RobotFieldPosition.java
+++ b/lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/RobotFieldPosition.java
@@ -11,13 +11,12 @@ import org.photonvision.EstimatedRobotPose;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.apriltag.AprilTagFieldLayout.OriginPosition;
-import edu.wpi.first.apriltag.AprilTagFieldLayout.OriginPosition;
 import edu.wpi.first.math.geometry.Transform3d;
 
 public class RobotFieldPosition {
     AprilTagFieldLayout layout;
     PhotonPoseEstimator photonPoseEstimator;
+    PhotonCamera camera;
     Optional<EstimatedRobotPose> frozenPose;
     boolean frozen = false;
 
@@ -46,8 +45,6 @@ public class RobotFieldPosition {
     public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFields fields) throws IOException {
         layout = AprilTagFieldLayout.loadFromResource(fields.m_resourceFile);
 
-        layout.setOrigin(OriginPosition.kBlueAllianceWallRightSide);
-
         PhotonCamera cam = new PhotonCamera(camera);
         photonPoseEstimator = new PhotonPoseEstimator(layout, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
     }
@@ -74,6 +71,14 @@ public class RobotFieldPosition {
         photonPoseEstimator.setLastPose(pose);
     }
 
+    public PhotonPoseEstimator getPhotonPoseEstimator(){
+        return photonPoseEstimator;
+    }
+
+    public PhotonCamera getPhotonCamera(){
+        return camera;
+    }
+
     // For when you want it to stay the same across lines
     public void freeze() {
         frozen = true;
@@ -85,4 +90,4 @@ public class RobotFieldPosition {
     }
 
 
-}
\ No newline at end of file
+}