AIM-04: Aim Tuner - find the camera offset from real shots

medium priorityReal robotabout 40 minAiming

• Your robot needs: Flywheel shooter, and Limelight 3A or Webcam.
• Starter bots that fit: none (it needs parts the starter bots do not have).
• Library version: v0.16.0 or newer.
• The docs it tests: Finding your numbers (the finders).

Why

A camera that is not exactly on the launcher's line makes every shot go a little to one side. The Aim Tuner finds the offset with real shots. We want to know the steps are clear and the offset works at more than one distance.

Safety

• Safety glasses for everyone. Nobody in front of the launcher.
• Hard stops on the turret (if any).

Setup

• Flywheel gains found (SHOT-01). A goal you can shoot at, and 10-15 game pieces.
• The Aim Tuner OpMode for your robot (finders guide).

Steps

1. Park the robot 4-6 ft from the goal, facing it. A turret with a home switch: press X first.
2. Hold A: it aims. Fire with RB.
3. Shots go left of the middle: D-pad RIGHT. Shots go right: D-pad LEFT. Fire again.
4. Repeat until shots go in the middle. Write the offset.
5. Move to a second distance (about 2 ft farther). Fire 5 with the same offset.
6. Copy the line it prints into Tunables.java: Tunables.Turret: cameraOffset = ... with a turret, Tunables.Aim: cameraOffset = ... for whole-robot aim.

Pass rule

At the first distance at least 4 of 5 shots go in after tuning, and at the second distance at least 3 of 5 go in with the same offset.

Record

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

• camera place (on the turret, on the body, how far from the launcher's line)
• the offset you ended with (degrees)
• hits out of 5 at each distance, and the two distances
• how many tries it took

If your robot is different

Without a turret the robot itself turns to aim: hold A the same way. If the offset that works changes with distance, your camera is to the side of the launcher: say how far, and which offset worked where.

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.

Report result

No reports for this test yet: yours would be the first. Every test's reports.

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