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Fix/yaw calibration ai#102

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jujumuch wants to merge 10 commits intodevelopmentRoboTeamTwente/roboteam_microcontroller5.0:developmentfrom fix/yaw_calibration_AIRoboTeamTwente/roboteam_microcontroller5.0:fix/yaw_calibration_AICopy head branch name to clipboard

+11-3

Commits

Commits on Feb 7, 2024

• Checking if the yaw calibration (with IMU and Vision) is done, if not the robot will be in halt, leaving enough time for the robot to do the yaw calibration

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• Uncomment this part if you want to check the yaw calibration (IMU and Vision), if no Calibration was done, the wheel will sstop and yaw will be re-calibrated again

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Commits on Feb 12, 2024

• Correct slippage factors

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• no feedforward

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• second try for yaw calibration with wheel stop

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Commits on Mar 28, 2024

• yaw calibration happens in state Estimation Update, wheels stop for 5 seconds to check calibration with Vision

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• fix bug (couldnt build)

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• No need for the counter because within yaw calibration, we already checked whethere Vision is available, if not we just continue the code

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Commits on Apr 2, 2024

• Fixing the yaw calibration (state Estimation Update needs to happen outside of the if-loop, if not state Estimation is not only called once (and not at every timesteps))

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• Enabling feedfoward

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