The 2024 V2 robot, Autotune, has code that allows it to "auto-aim" the shooter at an apriltag. This code worked well late in the 2024 season, but is incredibly specific to that particular robot, and that particular game.
Work needs to be done to extract all relevant code out into a standalone class that can be ported from season to season. To make this more effective for other robots and other games, work should also be done to create parameters, configuration, and variability in functionality.
For instance, a list of apriltags and a 3dPose offsets could be supplied to inform the auto-aim class about where the target is in relation to the apriltag (not just the 2024 speaker opening above tag 4 & 7).
While updating this class to be more flexible with parameters, it would also be beneficial to convert some of the configuration into Shuffleboard values so that the tuning of the auto-aim can be manipulated on the fly while the robot is on.
The 2024 V2 robot, Autotune, has code that allows it to "auto-aim" the shooter at an apriltag. This code worked well late in the 2024 season, but is incredibly specific to that particular robot, and that particular game.
Work needs to be done to extract all relevant code out into a standalone class that can be ported from season to season. To make this more effective for other robots and other games, work should also be done to create parameters, configuration, and variability in functionality.
For instance, a list of apriltags and a 3dPose offsets could be supplied to inform the auto-aim class about where the target is in relation to the apriltag (not just the 2024 speaker opening above tag 4 & 7).
While updating this class to be more flexible with parameters, it would also be beneficial to convert some of the configuration into Shuffleboard values so that the tuning of the auto-aim can be manipulated on the fly while the robot is on.