Measuring Angle: Gyro or Vision Tracking

[baronep]

I was wondering if anyone has had any luck measuring shooting angle in the distortion of the rectangles. I am talking about yaw axis, not pitch. The other alternative would be to set the robot up parallel to the field length and then measure the angle using the gyro. Any ideas?

[Chris Hibner]

We're planning on using both. Once we get a little more testing time, we'll see which is more reliable and how to combine the two pieces of information.

[baronep]

How would you measure the distortion in the rectangles?

[Chris Hibner]

Read this paper: http://www.chiefdelphi.com/media/papers/2324

Important part for you is calculating the angle beta on page 3.

[wildcats843]

We're using the axis cam to track only the bottom rectangle. It's going to be mounted level with the bottom hoop, and will only rotate horizontally (along with the turret) not vertically (the turret will turn vertically). This way, we only have to track one box; we can calculate the distances/angles of the others from there.