Simple dead-reckoning autonomous

[Tom Line]

I have to wonder. How many teams complaining that their camera was having trouble finding the light were trying to:

1. Find the light from the starting position.
2. Find the light while moving.

We noticed early on that tracking the light while the robot was moving at a decent speed, or even finding the light from the starting position was generally problematic.

We solved it by driving up to about 6 feet away then stopping and getting a single fix from the camera. We forced the camera to only search across 1 tilt level and had it on a vastly increase pan-speed.

That single fix gave us both the amount we needed to turn, and the distance we had to travel to score.

Early on, we actually did it in two steps - we turned first then got our second fix to get the distance. It was slightly more accurate (1-2 inches) than geting the distance then turning - but we need to speed it up to avoid the defense in West Michigan.