Rotate to apriltag #120
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Rotate to apriltag #120
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markpete
reviewed
Jan 25, 2025
| double robotToTagAngleTimestamp = | ||
| s.apriltagsProcessor.getLastRotatedAngleTimestamp(); | ||
| var robotAngle = s.drivebaseSubsystem.getPose().getRotation(); | ||
| var robotToTagAngle = s.apriltagsProcessor.getLastRotatedAngle(); |
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You might move this after the if() {} below. No reason to have the computer do the work to get robotToTagAngle if you will never use it when the if is true.
markpete
reviewed
Jan 25, 2025
| } | ||
| // Camera is rotated so that global left is camera down | ||
| lastRotatedAngle = Rotation2d.fromDegrees(-target.getPitch()); | ||
| lastRotatedAngleTimestamp = pipelineResult.getTimestampSeconds(); |
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Add a break; here. Once you've found the one you want, there is no reason to continue through the rest of the loop.
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Ignore the commit message- After testing on Monday 6/10, it was working. Not sure what changed, though, which might be worth investigating.
Main purpose is to have a mode where it rotates towards an AprilTag for use at outreach. The control is done in Shuffleboard to avoid accidental activations. Not terribly well tuned, but it should still be a decently interesting demo.