Team302 / 2023ChargedUp

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Calibrate the front limelight pitch and yaw angles on the comp robot #332

Open muscatd75 opened 1 year ago

muscatd75 commented 1 year ago
  1. Position robot so that the cross hair is centered on an April tag
  2. Using a measuring tape, measure the horizontal distance (HD) from the April tag to the limelight
  3. The yaw angle of the limelight is arctan(HD/(LLH-ATH)), where LLH is the limelight height, ATH is the April tag height
  4. Set this value in practicebot.xml -> yaw="x.x" where x.x is the calculated angle
  5. Set the pitch angle in practicebot.xml to -1*verticalAngle, where verticalAngle is read from the limelight network table