[Jeremy Germita]

Originally Posted by kylemikableh

Wow, that looks amazing! How does this translate to robot code? Must had taken hours to accomplish that.

After tuning the pixy's settings to only give us data on the target's X position through the analog out, we used a simple P-controller on the drivetrain. It could have been tuned a little better, but we found that in outerworks shot config, our drivers were good at getting close enough for the P loop to get us into position reliably. You can take a peek at the code here, although it isn't anything groundbreaking - lines 84-89.

This never ended up being used on the competition field at Chezy Champs due to us pivoting to a ramp camp shot at the base of the batter that was a lot easier and faster for our drivers to hit. It was a pesky measurement error in translating rev 1's shooter exit angle to CAD for rev 2 that wasn't caught until after we had cut the plates for rev 2. Measurement was 30 deg from vertical, CAD was 30 deg from horizontal! Ended up working out in the end, but expect to see one more big revision for Battle at the Border in a few weeks...