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6500gearcats / Crescendo2024

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Finish Vision Features #47

Open SethBragdon opened 1 month ago

SethBragdon commented 1 month ago

Objective: Finish vision features we were working on last year. Our highest priority is probably aligning the robot to the speaker. We have already managed to align the robot, but it is always a bit off. The easiest way to fix this will probably be translating the robot 11-inches left after alignment. We also have a prototype for aligning the robot to the amplifier. Skew and oscillation are not accounted for. We have a program for finding distance, but I believe it is ineffective. We would need two cameras and a different program for that.

Relevant/Helpful Branches: AMPlineup CalculateDistanceFromSpeaker-S GetDistanceFromTarget-S GetDistanceFromTarget-S NoteFinding

JasonH81 commented 1 month ago

Created a new branch for this, AprilTagVisionJason where I removed some unused methods and simulation code that we could add back later- but it makes the vision subsystem easier to work with