Ideas on how to stop the depot (and other raised field elements) from disrupting robot odometry? – Programming

Hi there, I’m a programming student on team 2783 and we are trying to develop a series of depot autos in preparation for champs. One hiccup we often run into is that the depot can mess up the robot’s odometry in auto, making it miss most of the fuel collected.

We currently run two limelights providing field localization, however the issue still persists. To my understanding, the localization should remedy this problem, but it doesn’t seem to. Any ideas? (I can supply a video of the auto or robot code if needed)

Video link

A video of the autos and the code would be great to help us understand the issue!

you can lower your standard deviation to rely more heavily on limelight data. You could also put a reset odometry based on limelight data and then PID to pose in your auto to correct.

In our autos we don’t see any tags (while we’re intaking depot) and we’ve been fine. You could try slowing the drive while intaking, and make sure you’re not trying to turn while your wheels are on the raised bit of the depot. (A video of the auto would help a lot aswell)

Google drive link to a video of the auto

I created a reply with a link to a video of the auto

are your cameras seeing tags while doing the collect from the depot. It kinda looks like they wouldn’t be picking them up

Since you have solid shoot on the move and a turret, you can probably avoid it entirely by just not crossing the bar. If you rotate your bot to a 45 degree angle and back in til your wheels are in contact, you can get almost half the fuel. Then drive forward to clear the bars, switch sides, back up again. With most intake geometries, you can probably grab almost all the fuel barring a couple in the back center. Since you never cross the bar, you also don’t kick your shooter off course in the process.

We’ve been very happy running this pattern over the last few days.

Kind of, theoretically one of them should recognize either the tags on the hub or under the tower, but we are unsure if it will work on a real field because the lighting in our area isn’t the best.

This may work. We might have to come at the trench from a shallower angle since our turret is limited to 180 degrees, but it’s possible