My team needs some help. We have a LimeLight 2+ on our 2020 practice robot. While we have the ability to track the target and getting that dialed in we are struggling with how to measure distance to the reflective target and ability to adjust speed on our shooter. In the use case we would like to actively measure distance the shooter sees the reflective tape on the top goal and automatically adjust the shooter motor speed. Has any team out there done this with this equipment? Any help is greatly appreciated in advance!
A more naive approach is to find the inverse proportion between target area (ta) and a known distance from the target. Something a little more involved would be under the additional theory tab in the Limelight documentation.
Most teams will use the vertical angle to the center of the target (ty) to calculate their distance to the target using simple trig.
For the motor speed, it’s easiest to take your robot out to the field and shoot. Find the speeds that work at given distances, plot them in excel. Add a trendline (linear usually works, but you can get fancy) and use the equation for that trendline to calculate your desired speed given a distance.
Area can be tricky, because as you move to the left or the right of the target the ‘area’ changes. Elevation angle doesn’t.
We use this. So long as the mounted LL angle is fixed and other static dimensions are accounted for (like height and distance from LL to bumper), this can be accurate to within an inch.