AIM-02: Odometry backup aim when the camera is covered

high priorityReal robotabout 40 minAiming

• Your robot needs: Turret, and Limelight 3A or Webcam, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods).
• Starter bots that fit: none (it needs parts the starter bots do not have).
• Library version: v0.17.0 or newer.
• The docs it tests: Lesson 9: A shooter, a camera and a turret (for robots that shoot).

Why

When a tag is hidden, the turret should keep aiming from the odometry. A wrong goal point, a wrong alliance or a pose that was never set would aim at the wrong place, so the library has checks. We need to see them work on other robots.

Safety

• As AIM-01: hard stops, slack cables, flywheel off.

Setup

• AIM-01 passed. ODO-01 passed.
• Tunables.Aim: goalX, goalY (inches, seen from your own drivers' wall; BIOBUZZ: goalX = 13, goalY = -13, your HIVE's CELL that is up at the start), and for BIOBUZZ mirrorForRed = false.
• An autonomous that ends near the goal, or the "set pose here" spot (ODO-02).

Steps

1. Run your autonomous (or set the pose with START held 1 s), then INIT TeleOp. Read INIT's Aim: line (alliance, goal, mirrorForRed).
2. START. Point the turret at the goal with the camera seeing it (following: camera).
3. Cover the camera with your hand. The turret keeps pointing at the goal, and the Driver Station says following: odometry.
4. With the camera still covered, drive about 3 ft sideways. The turret follows the goal.
5. Uncover the camera. Read any Aim: camera says ... odometry ... warning.
6. Run TeleOp with no autonomous and no pose set: it must say Aim odometry: the pose was never set, and covering the camera must stop following.

Pass rule

With the camera covered, the turret points within 5 degrees of the goal (by eye or by the Driver Station) after the 3 ft drive, and in step 6 it does not follow from the odometry (0 times).

Record

Write these down while you test. The report form has them as a list to fill in.

• odometry kind, camera kind
• goalX, goalY you used
• how far off the odometry aim was after step 4 (degrees)
• the camera/odometry disagreement it showed in step 5 (inches), if any

If your robot is different

Use your own goal point if you test on a different field or a practice goal. If your turret robot has no camera (only odometry), use .followsOdometry() and skip step 3; say so. On RED, check that the Aim: line matches the field.

Report your result

Pass, fail, or could not run: every result helps. The form opens on GitHub with this test filled in (a free GitHub account is needed). No student names, please.

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