From a73875ff717b5e9e9d6c59d25fbddd2485493d46 Mon Sep 17 00:00:00 2001
From: Aydin-Firoozshahian <aydin26f@gmail.com>
Date: Sat, 4 Jul 2026 12:58:45 -0700
Subject: [PATCH] uncomment the omega and tag ambiguity conditions in
 CommandSwerveDrivetrain.periodic()

---
 .../frc/robot/subsystems/CommandSwerveDrivetrain.java     | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 6dbc2d7..f1564a2 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -301,11 +301,11 @@ public void periodic() {
                 visionAvgTagDists[i] = est.avgTagDist;
                 visionLatencies[i] = est.latency;
                 
-                  //if (omega < 3.0 || est.tagCount > 1) {
-                     //if (!vision.hasHighSingleTagAmbiguity(est)) {
+                  if (omega < 3.0 || est.tagCount > 1) {
+                     if (!vision.hasHighSingleTagAmbiguity(est)) {
                          addVisionMeasurement(est.pose, est.timestampSeconds, stdDevs);
-                    //}
-                //}
+                    }
+                }
              }
 
             Logger.recordOutput("Vision/Poses", visionPoses);