Vision Integration (Complex)

[sillylittlerobots]

This involves correlating the known distances from the april tag. This will depend on if we have a variable shooter angle or not. There are physical limits

https://docs.photonvision.org/en/latest/docs/integration/advancedStrategies.html
https://docs.photonvision.org/en/latest/docs/integration/aprilTagStrategies.html

Requirements:

• Relate a 2DPose to an appropriate shooter speed/angle depending on distance
• Correct the odometric position from auto when a certain threshold of error is calculated.
• Automatically line up the robot to shoot at both the amp and the speaker
• Anything else I think of I'll reply with
• Global Pose Estimation>

Steps:
NOTE, these are vary vague steps, this is a complex task and I'm limited in how much I can hold your hand.

1. Find a shooter speed/angle vs distance from target from limelight curve. This needs to give an equation where you can convert the distance to an appropriate shooter value.
2. Find out how to directly right an odometric position into pathplanner (and figure out HOW to derive your odometric position from your limelight values. This needs to be a coordinate system.)
3. This ones the easiest, you just need to make the robot turn right if its to the left of the target, and left if its to the right of the target. You might need to figure out how to make sure it doesn't pick the wrong target.
4. Celebrate !

[pixelated-pup]

Aiming done