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RobotCasserole1736 / RobotCasserole2017

Robot Casserole robot source code for the 2017 FRC game, First Steamworks.
MIT License
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Add state to vision alignment to confirm aligned #109

Closed gerth2 closed 7 years ago

gerth2 commented 7 years ago

With the new control strategy of taking a single picture, aligning, taking another one, etc., Until the camera confirms alignment, we will need another state for when the camera confirms we are aligned. Only when the most recent image indicates we are actually aligned should we start shooting. We should continue taking pictures to determine if we remain aligned or not.

As part of this, it may make sense to implement two independent getaligned methods, one for the individual picture method and one for the continuous method. It would be more code duplication, but probably easier to read the logic.

schmizr19 commented 7 years ago

Finished this issue on branch: ZoeVisionAlign