Path Align#178
Merged
Merged
Conversation
…our detection). Compiles for jetson and ready to test for pool test 3/22/25.
- Tune depths for dive well - Replace path align PCA implementation with CV implementation
- Detects path well - Continuously rotates counter clockwise while waiting for false detections - Does not move forward while waiting for false count - Flipped Y direction during position corrections
…_*_camera functions
- Tune yaw PID - Start procedural rewrite of path align - Use Angle2D for path align - Was previously ignoring cv generated angle
- Terminates based on the number of consecutive positive path detections - We should consider replacing this with an average angle error ceiling
Sending a command to move to the current angle is both unnecessary and caused oscillations (the current angle would have changed since the time of access)
This was referenced May 20, 2025
Merged
SarangaR
approved these changes
Jun 11, 2025
Contributor
SarangaR
left a comment
SarangaR
left a comment
There was a problem hiding this comment.
Tested at 06/07/2025 pool test and prior. Merging to move away from this branch.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This adds: