Thanks for the suggestion!
We actually have some code to do auto-lineup on the stage, but we’re not using it for a few reasons:
- Due to the angle of our shooter-side camera, we have to do the lineup from a ways back.
- We have to use our gyro for angle position, because single april tag rotation is very unreliable.
- It wasn’t fast enough. Our driver has been able to do the lineup faster than the code.
- Since we use gyro for angle, we had to calibrate each of the 4 climbing positions on the field during field calibration since small angles can make a difference. Additionally, the stages get bumped and moved around throughout the competition, throwing off our calibration as the event progresses.
We can do the full lineup and climb consistently in < 15 seconds, but we were trying to climb in < 10 seconds at GKC many times, and it simply wasn’t enough time.
I suppose we could try this out on a practice field again if we have some time to burn. Or maybe we’ll just look at it in the offseason.
