What are you plans for using vision with speaker? The 2 ideas I’ve had so far are using the april tag to auto drive the robot to a setpoint and run the shooter at the same settings for consistent shooting. The other idea is to vary the shooter speed and other potential parameters based on the distance to the april tag (ignoring the angle for now; assuming that the robot is generally in the front of the speaker). Has your team evaluated either of these or come up with some other ones?
Maybe use trigonometric functions to calculate the angle of shooter, which will be easier for drivers.
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