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 modified pan-speed with a lower confidence interval.

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

At first, we decided to get the turn angle, turn, then get the distance to drive. However, we would occasionally lose our camera lock during the turn so we went to do both at the same time.