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1757WestwoodRobotics / 2022-RapidReact

Competition Bot for FRC 2022 Season
MIT License
5 stars 1 forks source link

only turn on limelight LEDs when a ball is present in the system #125

Closed lmaxwell24 closed 2 years ago

lmaxwell24 commented 2 years ago

https://youtu.be/-vA16qdfVKE?t=94 as seen in this clip, there are instances in which an unexpected interference from the limelight does cause the bot odometry to shift (notably when the limelight is facing the hangar truss)

by turning off the lights when not needed, we prevent the chance of this happening again and a corrective measure such as whipping the turret around has to be employed

lmaxwell24 commented 2 years ago

due to the low exposure on the limelight it would be highly unlikely for any light that doesn't break R203 would interfere with the system this really only happened when the limelight was targeted towards the hangar and close enough that the general reflection would cause a point recognition

LandonBayer commented 2 years ago

I was thinking overhead lights or reflections, which we had some issues with at both WPI and championships

lmaxwell24 commented 2 years ago

proper limelight tuning also currently requires multiple distinct points to show positive