Closed caseyjbrotherton closed 8 months ago
@riversry Can you put the list of tests that we had discussed on Sunday here?
Only one I can remember is:
I would also like to test with isCompetition = true. This will reduce some of the shuffleboard network traffic. I would also like to test just placing the robot in front of the speaker, and check the poses again.
Last time we checked it was 4 inches off in X. I would like to see if that is still the same, and if there is any difference in Y
Here is another thought.
We update the robot pose using LimelightSubsystem every periodic when we find two tags. And we use the latency information as well to allow wpilib to make adjustments based specifically on the latency.
Limelight information is not updating every 20ms, so it appears from code that we are sending multiple of the same pose with an incorrect latency to update our position. ( If we wanted to verify that, we could log the pose every time we update it in the LimelightSubsystem periodic )
Can we figure out how to trigger the position update only when the NT:/limelight/hb
tag increases? or the data changes?
Maybe use subscribe? https://docs.wpilib.org/en/stable/docs/software/networktables/publish-and-subscribe.html#subscribing-to-a-topic
Full list of ideas to try:
Tests:
Possible Issues:
Tests:
There have been a bunch of changes. We switched to photonvision. Photionvision is useable for positioning, especially closer to the speaker. It also updates 100ms instead of Limelight's 300ms.
Closing this issue. Follow on work for positioning will be under a new card
There are two issues that we have found with using limelight for pose estimation:
Notes on 2 based on testing done on January 28th:
Notes about tests on Jan 28th:
While running tests, there was network flakiness. Log messages were repeated on the rio log multiple times.
There was an excessive number of Pose logs. ( 2524 over 8 seconds; 1890 over 6 seconds ) Not sure if this has any impact, but noting it.
videos and logs:
https://drive.google.com/drive/folders/1Q-TxwRmtFgTbT9DsKBl7l5xFkL1TmkzR?usp=drive_link