Merge branch 'main' of https://github.com/7451AvengerRobotics/NewSwerveDriveCodeSriram

Author: CameraWorld

src/main/java/frc/robot/RobotContainer.java

@@ -31,10 +31,11 @@
 import frc.robot.subsystems.drive.ModuleIOSim;
 import frc.robot.subsystems.drive.ModuleIOTalonFX;
 import frc.robot.subsystems.vision.Vision;
-import frc.robot.subsystems.vision.VisionConstants;
 import frc.robot.subsystems.vision.VisionIO;
+import frc.robot.subsystems.vision.VisionConstants;
 import frc.robot.subsystems.vision.VisionIOPhotonVision;
 import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
+
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**

src/main/java/frc/robot/commands/DriveCommands.java

@@ -190,7 +190,7 @@ public static Command feedforwardCharacterization(Drive drive) {
                 () -> {
                   double voltage = timer.get() * FF_RAMP_RATE;
                   drive.runCharacterization(voltage);
-                  Double velo = drive.getFFCharacterizationVelocity();
+                  velocitySamples.add(drive.getFFCharacterizationVelocity());
                   voltageSamples.add(voltage);
                 },
                 drive)

src/main/java/frc/robot/subsystems/vision/Vision.java

@@ -138,8 +138,6 @@ public void periodic() {
             observation.pose().toPose2d(),
             observation.timestamp(),
             VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev));
-
-        System.out.println("Hey buddy boy");
       }
 
       // Log camera metadata

src/main/java/frc/robot/subsystems/vision/VisionConstants.java

@@ -21,9 +21,7 @@ public class VisionConstants {
   // Camera names, must match names configured on coprocessor
   // public static String camera0Name = "BackLeft";
   public static String camera1Name = "BackRight";
-
-  49f38494f34bcbc5a1c517d7ddd601366c476e98
-  d8fdc6a2f9b679e3c2ced9410564af13a732bc51
+  
   // Robot to camera transforms
   // (Not used by Limelight, configure in web UI instead)