Vision latency #36
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Vision latency #36
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…ontrol for vision alignment
Codecov Report
@@ Coverage Diff @@
## master #36 +/- ##
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+ Coverage 77.15% 81.74% +4.59%
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Files 18 20 +2
Lines 1160 1282 +122
Branches 119 120 +1
==========================================
+ Hits 895 1048 +153
+ Misses 239 208 -31
Partials 26 26
Continue to review full report at Codecov.
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auscompgeek
reviewed
Feb 18, 2019
auscompgeek
reviewed
Feb 18, 2019
auscompgeek
reviewed
Feb 18, 2019
utilities/functions.py
Outdated
| @@ -31,3 +31,10 @@ def rescale_js( | |||
| def constrain_angle(angle: float) -> float: | |||
| """Wrap an angle to the interval [-pi, pi].""" | |||
| return math.atan2(math.sin(angle), math.cos(angle)) | |||
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| def rotate_vector(x: float, y: float, angle: float) -> (float, float): | |||
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We should probably use this function everywhere we do this too (we do this in the swerve code too).
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Clean up code
Use proportional controller to correct lateral offset when aligning
Tests on vision.py component