diff --git a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py index d5433a0f7b..5d5d9731be 100644 --- a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py +++ b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py @@ -418,9 +418,14 @@ def distance(target: VisionTargetSim): # put this simulated data to NT self.heartbeatCounter += 1 + now_micros = wpilib.Timer.getFPGATimestamp() * 1e6 return PhotonPipelineResult( metadata=PhotonPipelineMetadata( - self.heartbeatCounter, int(latency * 1e6), 1000000 + self.heartbeatCounter, + int(now_micros - latency * 1e6), + int(now_micros), + # Pretend like we heard a pong recently + int(np.random.uniform(950, 1050)), ), targets=detectableTgts, multitagResult=multiTagResults,