Distance Algorithm

[jesusrambo]

Originally Posted by cooltext

Okay, thanks for all the replies. but does the formula described in the white papers account for the change in angle such as moving from side to side?

I initially ran into problems when testing the code used in that whitepaper because of skew moving from side to side. I changed the code to use the Y value instead of the X, so you won't run into problems with skew when moving from side to side on the field. If your robot relies on getting up close to the target you may still encounter problems with Y-axis skew, but since we're shooting balls and maintaining range, and since we have a fairly high mounted camera, we don't forsee Y skew becoming too much of a problem.