tuning and vision changes

Author: KaraParikh1

src/main/java/frc/robot/config/VisionConfig.java

@@ -8,16 +8,23 @@
 import org.photonvision.PhotonPoseEstimator;
 
 public class VisionConfig {
-  public static final String CAMERA_NAME = "apriltag";
-  public static final String SECOND_CAMERA_NAME = "apriltag2";
+  public static final String CAMERA_NAME = "apriltag"; // left
+  public static final String SECOND_CAMERA_NAME = "apriltag2"; // right
 
   public static final AprilTagFieldLayout LAYOUT =
       AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark);
   public static final PhotonPoseEstimator.PoseStrategy STRATEGY =
       PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR;
-  public static final Transform3d CAMERA_POSITION =
-      new Transform3d(0.0, Units.inchesToMeters(-9.5), 0.0, new Rotation3d(0.0, 0.0, 0.0));
-  public static final Transform3d DRIVER_CAMERA_POSITION =
+  public static final Transform3d LEFT_CAMERA_POSITION =
       new Transform3d(
-          Units.inchesToMeters(-4), Units.inchesToMeters(-1), 0.0, new Rotation3d(0.0, 0.0, 0.0));
+          Units.inchesToMeters(12.25),
+          Units.inchesToMeters(10.75),
+          0.0,
+          new Rotation3d(0.0, 0.0, 0.0));
+  public static final Transform3d RIGHT_CAMERA_POSITION =
+      new Transform3d(
+          Units.inchesToMeters(12.25),
+          Units.inchesToMeters(-8.75),
+          0.0,
+          new Rotation3d(0.0, 0.0, 0.0));
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -74,12 +74,12 @@ public class Drivetrain extends SubsystemBase {
   // Creates PhotonPoseEstimator that estimates the robot position from one camera
   private PhotonPoseEstimator vision =
       new PhotonPoseEstimator(
-          VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.CAMERA_POSITION);
+          VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.LEFT_CAMERA_POSITION);
 
   // Creates PhotonPoseEstimator that estimates the robot position from another camera
   private PhotonPoseEstimator driverVision =
       new PhotonPoseEstimator(
-          VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.DRIVER_CAMERA_POSITION);
+          VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.RIGHT_CAMERA_POSITION);
 
   // creates Ultrasonic rangeFinder that measures distance (currently not in use)
   Ultrasonic rangeFinder = new Ultrasonic(1, 2);