Autoalign currently uses a set time to drive and a binary check to align, which isn't very accurate. If we used the horizontal angle offset from the limelight and a PID loop to align instead, it would be more accurate and faster. This of course involves applying potentially exponential factors to the drivetrain, but whatever.
Autoalign currently uses a set time to drive and a binary check to align, which isn't very accurate. If we used the horizontal angle offset from the limelight and a PID loop to align instead, it would be more accurate and faster. This of course involves applying potentially exponential factors to the drivetrain, but whatever.