Measuring Angle: Gyro or Vision Tracking

[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.