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P2 Prevent Caffeine from taking wrong shortcuts #148

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5 tasks

Raindancer0912 opened this issue May 22, 2023 · 0 comments

Open

5 tasks

P2 Prevent Caffeine from taking wrong shortcuts #148

Raindancer0912 opened this issue May 22, 2023 · 0 comments

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Raindancer0912 commented May 22, 2023 •

edited by pmistry9597

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Description:

Currently Caffeine tries to take a straight path to further waypoints, only realizing there are obstacles too late and turning back
When trying to get from waypoint 4 back to starting position, it tries to cut across the open area in the middle of the track, which is not allowed
If lane detection fails for a single short segment, it could cause caffeine to try to take impossible shortcuts

Goals:

Prevent Caffeine from cutting across middle field
Add in artificial waypoints in the corners so caffeine doesn't try to take shortcuts/decrease dependence on lane detection
(Maybe) Add a constant box behind caffeine so it doesn't try to turn drastically. Should not interfere with mapping

Acceptance Criteria:

Caffeine completes the lap along the desired pathway
Waypoints are added correctly and tuned so it isn't located in a obstacle/out of range

Raindancer0912 self-assigned this

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