From 80d82c1a9b8eb02868f43d8d25cb26ed328beee1 Mon Sep 17 00:00:00 2001
From: Matt Morley <matthew.morley.ca@gmail.com>
Date: Tue, 12 Nov 2024 23:41:00 -0800
Subject: [PATCH] oops

---
 .github/workflows/build.yml                       | 15 ++++++++++++++-
 .../src/main/java/frc/robot/Robot.java            | 14 +++++++-------
 2 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index c9358ba9a3..428d789e41 100644
--- 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
index a003ca849a..d48b79039a 100644
--- 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);
     }
 }