We are trying to get our robot that uses mecanum drive to work in autonomous with limelight, so it can move on its own based on the april tags. Does anyone know how we can do this in java.
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Point controller for Mecanum drive, use a wpilib pose estimator and blend it with the limelight measurements, input your target as the point into the controller and it should handle the rest, simple localization + a basic PID controller.
If this is for cubes, just use a PID loop to try and center the AprilTag in the image (2d processing). This is definitely the first step. If you want to score cones, I would align either with the retroreflective tape or use 3d AprilTag pose estimators to get your field position, which then has to be fused with your encoder-estimated position to get your true position on the field. From there you can align.
I think this process will be difficult with mecanum, but I haven’t tried.
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ooh the PIDs okay, im having trouble right now getting it to move, i dont know what to put to get the motors to move
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