I had this idea at midnight and Nicholas initially liked it, so i think it's worth looking into.
In light of the discovery about the reflective airship walls, and while considering the idea of an arced path controlled using PID, I had an idea. Using the gyro, a lidar, and the camera, one should be able to through some trig determine one's distance from the wall, offset from the center, and direction the robot is pointing with high accuracy. Then, one can convert this into a two part path where the first part is a circular path and the second is a straight line. This guarantees that the robot will hit the gear perpendicular to the spring, and that it will be very close to centered. It will also decrease the need for frequent vision processing, as it will rely more heavily on the lidar and gyro.
I will attach a pdf with my calculations for those of you who are interested, and if you are not, then just trust me.
jmcculloch2018
commented
7 years ago
I had this idea at midnight and Nicholas initially liked it, so i think it's worth looking into.
In light of the discovery about the reflective airship walls, and while considering the idea of an arced path controlled using PID, I had an idea. Using the gyro, a lidar, and the camera, one should be able to through some trig determine one's distance from the wall, offset from the center, and direction the robot is pointing with high accuracy. Then, one can convert this into a two part path where the first part is a circular path and the second is a straight line. This guarantees that the robot will hit the gear perpendicular to the spring, and that it will be very close to centered. It will also decrease the need for frequent vision processing, as it will rely more heavily on the lidar and gyro.
I will attach a pdf with my calculations for those of you who are interested, and if you are not, then just trust me.