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Gold856 · Nov 13, 2024 · 80d82c1 · 80d82c1
1 parent d19f1b2
commit 80d82c1
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Showing 2 changed files with 21 additions and 8 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -39,7 +39,20 @@ jobs:
           name: built-client
           path: photon-client/dist/
   build-examples:
-    name: "Build Examples"
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            architecture: x64
+          - os: macos-14
+            architecture: aarch64
+          - os: ubuntu-22.04
+
+    name: "Photonlib - Build Examples - ${{ matrix.os }}"
+    runs-on: ${{ matrix.os }}
+
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout code

diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
@@ -39,7 +39,7 @@
 
 public class Robot extends TimedRobot {
     private SwerveDrive drivetrain;
-    // private VisionSim visionSim;
+    private VisionSim visionSim;
     private PhotonCamera camera;
 
     private final double VISION_TURN_kP = 0.01;
@@ -54,7 +54,7 @@ public void robotInit() {
         if (!TimeSyncSingleton.load()) {
             System.exit(-111);
         }
-        // visionSim = new VisionSim(camera);
+        visionSim = new VisionSim(camera);
 
         controller = new XboxController(0);
     }
@@ -126,11 +126,11 @@ public void simulationPeriodic() {
         drivetrain.simulationPeriodic();
 
         // Update camera simulation
-        // visionSim.simulationPeriodic(drivetrain.getSimPose());
+        visionSim.simulationPeriodic(drivetrain.getSimPose());
 
-        // var debugField = visionSim.getSimDebugField();
-        // debugField.getObject("EstimatedRobot").setPose(drivetrain.getPose());
-        // debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
+        var debugField = visionSim.getSimDebugField();
+        debugField.getObject("EstimatedRobot").setPose(drivetrain.getPose());
+        debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
 
         // Calculate battery voltage sag due to current draw
         RoboRioSim.setVInVoltage(
@@ -143,6 +143,6 @@ public void resetPose() {
         // The first pose in an autonomous path is often a good choice.
         var startPose = new Pose2d(1, 1, new Rotation2d());
         drivetrain.resetPose(startPose, true);
-        // visionSim.resetSimPose(startPose);
+        visionSim.resetSimPose(startPose);
     }
 }