Deposit Positioning

[gavinjalberghini]

Problem: Placing the bot in the correct position to place game pieces.

Possible Sensors:

• Visualizations
  • USB Camera / Limelight
• Orientation
  • Gyroscope
  • Rangefinder

Possible Solutions:

• Utilize April Tags
• Utilize Reflective Tapes (USB with Grip Pipeline/Limelight)
• Utilize Rangefinder & Gyrometer
• Overlay targeting over camera image

[NerdyDragon777]

Some links to post before in-depth research begins. Stage one.

https://raceon.io/localization/
https://stackoverflow.com/questions/67925438/how-can-i-estimate-the-pose-of-an-object-with-tags-attached-and-always-display
AprilRobotics/apriltag_ros#28
https://april.eecs.umich.edu/software/apriltag
https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#pose-estimation

[NerdyDragon777]

AI Written psuedocode. (May be correct or incorrect, it is just an outline of what to possibly expect)

float distance = 5.0; // distance to align robot from April tag in units

// detect April tag
TagData tagData = detectTag();

// determine position and orientation of April tag
float tagX = tagData.getX();
float tagY = tagData.getY();
float tagTheta = tagData.getTheta();

// calculate target position for robot
float targetX = tagX + distancecos(tagTheta);
float targetY = tagY + distancesin(tagTheta);

// rotate robot to face target position
rotateTo(targetX, targetY);

// move robot to target position
moveTo(targetX, targetY);