Support Drive-By Targetting

[dkt01]

Calculate aiming offset to hit target while robot is still in motion.

Possible inputs include:

• Target yaw angle (relative to robot)
• Target distance (relative to turret)
• Robot velocity (relative to field)
• Robot yaw rate (relative to field)

Possible outputs include:

• Yaw offset for aiming (account for robot velocity across field)
• Shooter speed offset (increase/reduce FC velocity to account for robot motion towards/away from target)

[dkt01]

Here's a possible approach in a spreadsheet to help with testing LimelightCalculations.xlsx

[dkt01]

Where theta_turret=0 180 degrees away from psi_robot=0 and both have positive in the clockwise direction. Where theta_skew is positive on the left side of the target Where theta_limelight is positive when the target is on the right side