We have a Gloworm mounted on the front of our intake that gives us a Yaw value when it sees a power cell. During testing we had the robot rotate based on that value and noticed that we were overshooting the ball constantly.
What we believe is happening is that the camera is mounted 30 inches from the center of rotation, but the Yaw value is assuming the rotation is happening at the camera location. One of the students has come up with some formulas that I think will come up with the correct number of degrees, which is great.
First, are we totally off on our thinking?
Second, does anyone know if either Photonlib or Limelight have any fancy features that handle this automatically?