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SoonerRobotics / robomagellan-2019

Sooner Competitive Robotics code base for the 2019 Robogames RoboMagellan competition
http://ou.edu/scr/
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Trajectory: Calculate Next Point #37

Closed jkleiber closed 5 years ago

jkleiber commented 5 years ago

Description In order to successfully complete the course, the robot needs to be able to ascertain it's next target GPS location. This is not necessarily the point nearest to the robot on the trajectory, but rather the next point in the queue.

Action to Take The essence of this issue is to determine if we have successfully visited a certain trajectory point on the path. Once we have visited a point, it should be popped off the queue and set as the last point and the next point should be set as the current target point

Possible Solutions Read if the robot is near enough to a point (some constant) and moving toward it (within a constant allowed heading deviation). Once the robot is close to that point, the point needs to be popped and saved as the last point. This has to be done before the robot reaches the point so it doesn't keep trying to reach the stale point.

jkleiber commented 5 years ago

Note that the next point can be transitioned to even if the robot failed to meet one or more trajectory goals for a particular point. We will move to the next point as long as the GPS part is satisfied.

The other parts need to be satisfied by #38 but if it fails, this change ensures we can complete the course successfully (though with a possible loss of performance).