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Auto align to the nearest index of the grid that the robot is at... #95

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GalexY727 opened this issue Mar 15, 2023 · 1 comment · Fixed by #96
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Auto align to the nearest index of the grid that the robot is at... #95

GalexY727 opened this issue Mar 15, 2023 · 1 comment · Fixed by #96
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@GalexY727
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bug Something isn't working enhancement New feature or request help wanted Extra attention is needed invalid This doesn't seem right logic A logic problem or solution ready to test Ready to test on the robot :> teleop Something that needs to get done for the Teleop period of the match

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@GalexY727
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Instead of picking a node to go to, have the robot find the nearest one, similar to how it is finding the nearer part of the substation tag in calibrateOdometry in AutoAlignment... Just use that for the whole grid

The easiest way to do this is by using getNearestTag(), then copying the logic used in the substation norm comparator.
@GalexY727 GalexY727 added enhancement New feature or request logic A logic problem or solution teleop Something that needs to get done for the Teleop period of the match labels Mar 15, 2023
GalexY727 added a commit that referenced this issue Mar 15, 2023
@GalexY727
Auto align to the nearest index of the grid that the robot is at... #95
8db4ac5 
Also split up the auto alignment into more segments,
to force the robot to go to the april tag,
before it heads to the coneOffset

Do not go to the tag of the substation first,
just the destination
@GalexY727 GalexY727 linked a pull request Mar 15, 2023 that will close this issue
Auto align to the nearest index of the grid that the robot is at... #95 #96
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@GalexY727 GalexY727 added the ready to test Ready to test on the robot :> label Mar 15, 2023
@GalexY727 GalexY727 self-assigned this Mar 15, 2023
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After testing on 3/15, this appears to be having trouble detecting the nearest cone offset for grid tags
Tested on tag id 3
I hope to take a look at that tonight and find the underlying issue with this activity.

@GalexY727 GalexY727 added bug Something isn't working help wanted Extra attention is needed invalid This doesn't seem right labels Mar 16, 2023
@GalexY727 GalexY727 pinned this issue Mar 16, 2023
PatribotsProgramming added a commit that referenced this issue Mar 17, 2023
@PatribotsProgramming
Merge branch 'main' into #95
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PatribotsProgramming added a commit that referenced this issue Mar 17, 2023
@PatribotsProgramming
Merge pull request #96 from Patribots4738/#95
dcabc3f 
Auto align to the nearest index of the grid that the robot is at... #95
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bug Something isn't working enhancement New feature or request help wanted Extra attention is needed invalid This doesn't seem right logic A logic problem or solution ready to test Ready to test on the robot :> teleop Something that needs to get done for the Teleop period of the match
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Auto align to the nearest index of the grid that the robot is at... #95 Patribots4738/ChargedUp2023
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@GalexY727