Custom std devs -> main #188
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PatribotsProgramming
added
enhancement
Jacob1010-h
requested changes
Feb 23, 2024
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ooookay we should be better now |
Jacob1010-h
approved these changes
Feb 25, 2024
| @@ -90,6 +90,52 @@ && getRobotPoseTargetSpace().getTranslation().getNorm() < 3.25 | |||
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| private void updatePoseEstimator() { | |||
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Make sure to test this when the time comes
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I'm enjoying my dad's birthday, if you have anything else for me to review then just lmk 😉 I'll do it tonight Ohh! Also what happened with network table manager |
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It got replaced with a more stable class which allows for tuning all pid controllers, many many good |
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sounds good, I still wanted to make a base controller for a more general management of variables, but it looks fine for right now |
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Given the impressive accuracy of the limelight when the camera can see more than one tag (megatag is so good)
But if there is only one tag, we can use our distance from the tag (along with ta) to change our standard deviations to accept pose estimations still while also taking into account the newfound noise that will be in the system.
A possible future for this PR would be to make a function of tag quality to standard deviation to make our inputs more or less valid based on where the "distance cutoff" is for only seeing one tag. Again, if we have two tags in view with one camera, that thing is accurate, no matter what.
The only thing that NEEDS to be tested is the idea of adding vision measurements through the periodic method of limelight and making limelight duplicatable (able to have two limelights)