Speaker and other targets vs April Tag Offsets

[Jacob1010-h]

The goal of this issue to to change the target location of all April tags on the field to the "center" location of where we want to shoot. One way to do this is to add an offset in the limelight for each April tag

AC:

• [ ] Each April Tag's location must correspond to center point of a target that we are going to shoot at. So when we get the location of the tag, the bot thinks that it's exactly where we want to shoot.

• [ ] Sometimes we might not want to shoot in the dead center of the target, so make a method to change the x and/or y to modify where we want to shoot.

[GalexY727]

I personally don't see the value in this. Why can't we just use a holonomic drive controller with a set position on the field? I think that the only reason we should use tags is for adding vision measurements, outside of that they are pointless in the code.

[GalexY727]

That came off really not the way i wanted it to i'm genuinely curious.

[GalexY727]

NOT trying to shut this idea down

[Jacob1010-h]

Well, if we do decide to end up using math and calculations for the shooting (#86), especially for locking the rotation of the bot when aiming, (#81) I think that we shouldn't add to the vision measurement but instead use the april tags as our targets (with an offset ofc). It would be a much more accurate solution that requires minimal work and effort.

[Jacob1010-h]

I think it's possible to use the position of the field to calculate the position and angle of the bot when shooting; however, that requires "math" and a bit of logic to make it functional. Instead, we tell the robot to aim for the shooter, and it automatically aims for the target; now we are done; all we need to do now is tell the bot to stay within a certain headband of the target angle relative to the bot when aiming, and now we have also resolved 81.

[GalexY727]

Due to not being able to see the tags, I think the better solution if we were looking to align with a point would just be to use arctangent to find the angle required and the pass that into the HDC which is used in the solution for #81 Surely it's as shrimple as that

[GalexY727]

The biggest downside to using tags would be the range at which we want to be firing at.