Determine Limelight(s) Position

MichGedd commented 1 year ago

Determine the optimal position to have the limelight so that we can obtain and score game pieces with vision assist.

BrightLaw9 commented 1 year ago

My opinions:

Consider having the limelight inline with AprilTag (centered, and parallel to the ground, slightly angled upwards) to allow for maximal detection from far distance (would be tracked with area of AprilTag, and/or ty offsets) -- all retroreflective tape is higher than AprilTag (should we track them)
Place it on the "back" of the robot so after substation pickup, can help get to nodes, align, and determine distance to extend (autos as well)

MichGedd commented 1 year ago

My opinions:

Consider having the limelight inline with AprilTag (centered, and parallel to the ground, slightly angled upwards) to allow for maximal detection from far distance (would be tracked with area of AprilTag, and/or ty offsets) -- all retroreflective tape is higher than AprilTag (should we track them)

Place it on the "back" of the robot so after substation pickup, can help get to nodes, align, and determine distance to extend (autos as well)

So you're suggesting here, correct? For placing, we may have to contact design regarding which positions the robot can score in.

BrightLaw9 commented 1 year ago

Yeah, that would be good. If it was placed a bit in (towards center of bot), it will prevent getting damaged by external collisions and being hit by the arm.

We would want to aim for an angle of view which, ideally, isn't impeded by the arm.

MichGedd commented 1 year ago

The one problem with this is your view might get blocked by the claw when picking up game pieces. What are your thoughts of putting the LL on the arm? I'm pretty sure we can only pick up one way. I'm not sure if the angles would work. Can you look into this?

MichGedd commented 1 year ago

Brandon brings up a good point that having 2 Limelight's might kill the bandwidth and instead we should put it on the mast.

BrightLaw9 commented 1 year ago

What is the mast?

MichGedd commented 1 year ago

This part

PerfectlyInternal commented 1 year ago

Wouldn't putting it on the mast make alignment a bit weird since it's off center? Can we have a bar across the top and put the LL at the same height in the middle?

MichGedd commented 1 year ago

No, because the arm needs to be able to pass through the top

BrightLaw9 commented 1 year ago

We'll experiment with putting it on the arm (the prototype)

FRC1360 / ChargedUp2023

Determine Limelight(s) Position #17