Vision Assisted Scoring

[BrightLaw9]

Is your feature request related to a problem? Please describe. "The drivers are always frustrated when they have to manually line up with the target" :). In other words, it is diffcult under time and precision pressures to line up during a real match.

Describe the solution you'd like Using the limelight, figure out an effective way to move the swerve drive to line up with the node scoring pegs / cube trays. Specifically,

• Limelight relays vision target data back to Rio
• Driver has a completely automated scoring routine: Driver Presses Button -> Robot lines up accurately -> Arm goes to scoring position -> Robot scores -> Arm goes home -> control back to Driver (all the rest of arm movement can be found in the assembly commands, add vision to that)
• Combination of odometry and AprilTags means robot knows where it is on the field at all times
• Etc.

May be helpful if the robot was ensured to be pressed up against the node frame prior to alignment

Describe alternatives you've considered ??

Additional context The limelight tracks retroreflective tape located on the cone pegs. You can use these to align to the target. Limelight docs are helpful source: Limelight Docs

[MichGedd]

Renamed to Vision Assisted Scoring as its a more accurate reflection of the goal. It is probably best NOT to use traditional computer vision for this task (as vision tape is being phased out for next year's game) and instead use robot odometry + AprilTags