✨ Automated Note Pickup

[SizzinSeal]

Overview

The robot identifies a note in front of it, and moves all necessary subsystems automatically to intake it.

Motivation

• Driving the robot to intake a note is hard
• Notes may move during auto if our alliance partners suck

Implementation

The LimeLight has object-recognition. However, it needs a Google Coral USB accelerator for this functionality. Fortunately for us, we have both the latest version of the LimeLight and a Google Coral. We can train our own neural network, or use the neural network trained by the kind folks who made the LimeLight (recommended method)

Todo

• Note is Detected
• LimeLight mounted
• LimeLight interfaces with the RoboRio over NetworkTables
• Position info filtered with a Kalman filter (use WPILib tools)
• Robot moves to the Note
• Robot intakes the Note

Additional Information

Team 359 uses this exact same hardware to accomplish this exact same thing, and with great success. This is a path well traveled by others, something we can make use of.