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Team-1922 / TinMan2016

The year the code works
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Autonomous Aiming #26

Open KevinMackenzie opened 8 years ago

KevinMackenzie commented 8 years ago

In autonomous, there is no guarantee that the shooter is at the correct angle to see the window, especially lacking an effective ultrasonic sensor, therefore the driver camera might use GRIP to process the image and take the red/blue vertical lines. Issues include: shirt color of opponent will definitely affect this aiming; raspberry pi is already using a lot of CPU resources right now; increased driver latency;

KevinMackenzie commented 8 years ago

even if non ultrasonic, there is a decent chance the bot can set a certain angle to assume the window will be in view at the beginning of the match. Maybe just make that part of the pre-match setup, or have that be part of autonomous

KevinMackenzie commented 8 years ago

this can be done with or without the shooter, for it does not care what the shooter angle is as long as it can see the window. the weight will be different for the PID controller, but that does not matter for this subsystem.

KevinMackenzie commented 8 years ago

Perhaps in automonous, assume a failry consistent distance from the tower to the bot, and base the shooter height on that (BECUASE THE SHOOTER ANGLE MAP DOESN"T EXIST)