Pioneer Robotics Documentation/pioneer.decode/Obelisk

Obelisk

Functions

fun detectMotif(detections: ArrayList<AprilTagDetection>, alliance: AllianceColor): Motif?

Filters the AprilTag detections to find the correct motif tag based on alliance color. If Blue alliance, look for right most valid tag (largest x in ftcPose) If Red alliance, look for left most valid tag (smallest x in ftcPose) Will work on close or far starting positions

isValidMotifTag

fun isValidMotifTag(aprilTagId: Int): Boolean