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ut-robotics / picr21-team-bts

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Weird exit for aim state #80

Closed Akustav closed 2 years ago

Akustav commented 2 years ago

https://github.com/ut-robotics/picr21-team-bts/blob/09e9488ed37ca8907c14233833fe658abc6a5cc7/BTS%20dev/game_logician_inator.py#L89-L93

This piece of code seems to exit the aim state when the basket is not in the frame? Why not instead try to find the basket inside the aim state since it is part of aiming?

Or am I misunderstanding?

Silaris commented 2 years ago

Thanks. Forgot self.basketCenterX is -1 if no basket was found and this skipped step is skipped always. Will remove it.

Silaris commented 2 years ago

Removed

ReikoR commented 2 years ago

https://github.com/ut-robotics/picr21-team-bts/blob/09e9488ed37ca8907c14233833fe658abc6a5cc7/BTS%20dev/game_logician_inator.py#L98

Variable divided by itself is 1.

This line should probably be:

side_speed = -base_speed

It's probably better to store last visible basketCenterX in a variable and use that to turn in that direction.