AritroSaha10
commented
2 years ago Fixed in 3b43139fe6dfca3a9f1abb14887e9d739bb69431! Issue was:
- arc angle calculation was incorrect (
left - rightinstead ofleft - right), reporting a vastly incorrect x axis value - encoders were not averaged properly, effectively doubling the angle
While tracking works on doing straights, the angles (seem to be) messed up. For example, on the old season code, when it reports a heading of 360 degrees, the new code will report a heading of -144 degrees.
Though, it is important to note that the issue likely does not lie in the tracking algorithm itself, but someplace else, as taking the tracking function from the new code and putting it into the previous season's code seems to work perfectly.