Hello,
I've been working on creating a command to align myself with a tote in autonomous. I'm finding the tote find but I'm looking into making my code more efficient and was thinking a PID subsystem (or command?) might help.
At the moment, here's basically what I'm doing: I'm isolating the tote and getting the pixel offset from the center. In the execute of my command (not PID command -- just a regular command) I'm checking to see the value of that number. If it's less than 25 pixels off it drives forward, if not, it turns the appropriate direction to make the center of the image be aligned with the centroid of the tote.
In my isFinished, I'm returning this:
Code:
// returning if we are less than 20 inches and within 20 pixels, in either direction, of the centroid of the tote
return Math.abs(distanceToCenter) < 20 && Robot._driveTrain.getDistanceIn() <= 20;
Would a PID subsystem be better suited for this? How would I go about a speed-based approach? At the moment it is pausing and turning and I feel it would be way more efficient to simply vary the speed to the motors proportionally but am unsure where to star.
Thanks guys.