Team 39: Target AND Field Oriented Drive (Target tracking)

[apalrd]

Originally Posted by BEEKMAN

you will most deffinatly want to use teh camera!!

That all depends on your strategy and how you see the game played. In autonomous, I can see it beneficial to not use the camera, since it will un-align you when you try to continue on to further balls (mid and far positions only). You could align, track the heading delta, and then turn back, but that all takes much more time. In teleop, I can see many times where the camera dosen't have a target while you are not facing it (e.g. getting balls) and then suddenly turning and wanting to fire. The camera takes a little while to get the target after turning quickly, so this would cause problems. This is all for the far and mid fields, the close field has many more applications for camera tracking and probably actually needs it less since the shot is so easy to line up.

That said, with Mecanum and Swerve drives, the ability to translate in an arbitrary direction without changing orientation makes the camera much more useful, especially where you don't plan on changing orientation enough to knock the camera off target.

You might find the camera useful, maybe not. It all depends on your strategy.