Quote:
Originally Posted by euhlmann
The issue with this is that the areas may change as you turn towards a target. This creates a sort of extended donkey-haystack problem. It was an issue for us last season. Hence the strategy of choosing one to always use if the areas are sufficiently similar.
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Quote:
Originally Posted by Hitchhiker 42
You do need to be careful with this. If you pick the right one in this case, and start turning towards it, you'll end up with the left goal being larger. This can result in massive jiggling between the two goals and not deciding properly.
To do this, you need to pick one and stay with it even if it becomes smaller. This means you need to figure out a way to keep the one you want (maybe by sending a one-time angle to turn to and then using that).
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That depends on if you continue to update or if you use the image to determine where to turn then do it outside of the vision system using other sensors. Which is what I have always found to be more reliable.
Edit: Actually I'm going to expand on this.
Vision systems are running at, what, 30fps if you're good? If you only update your feedback variable 30 times a second bad things are going to happen with bouncing ANYWAY. A more sane way to do it would be to utilize gyro integration over a short time frame to allow you to compute the angle you are from the target and then turn that distance. The gyro is less noisy and updates faster.