09 Mar

FORAY - Green Ball Detection and Autonomous Control flying test

Zhaoliang Zheng foray

The first flying test is to test the move_to_ball function:

The logic of move_to_goal function now is correct and PID is kind of ok so we move forward to the next part.

Before, we notice that it was easy to lose the track of the green ball and even after we fine-tune the PID controller. So we implement and refine the Go_back_to_ball function, use this to compensate for the lagging problem of the camera and other issues.

The logic of the Go_back_to_ball function is correct.

We also tested the Spiral_seeking function and fixed some bugs:

What's the problem from these flying tests?

  • There was so much noise in the lab for ball detection.
  • Hardware problems (camera keep having issues).

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