create the algorithm for determining the closest goal if any

• camera able to detect a square
• camera able to detect a circle
• camera able to detect a triangle
• camera able to detect the apriltags and the 6DOF position
• controller able to identify goals by either using shape detection or tag detection
• controller able to give the location of the closest goal

changed due date to October 06, 2021

changed milestone to %Week 2

added visual processing label

assigned to @shahrulkamil98 and @aaronjs

marked the checklist item camera able to detect the apriltags and the 6DOF position as completed

marked the checklist item controller able to give the location of the closest goal as completed

marked the checklist item camera able to detect a circle as completed

marked the checklist item camera able to detect a square as completed

int goal_id[3] = {0, 1, 2}; //////goal seeking algorithm //if (lidar detect green ball){ // int id = -1; int tx = 0; int ty = 0; int tz = 0; // int rx = 0; int ry = 0; int rz = 0; // if(cam.exe_goalfinder(goal_id[0], goal_id[1], goal_id[2], int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz)){ // //apply the same PID control when seeking green ball // //if we are at a specific position near the goal (slightly above), move straight forward for 5 second // } else { // //seeking mechanism to find the goal // //move up until we reach the desired altitude // //if already at the desired altitude, rotate around
// } //} else { //no ball in basket // //do whatever we have been doing before to find a green balloon //}

^ pseudocode for the goal finding algorithm

marked the checklist item controller able to identify goals by either using shape detection or tag detection as completed

marked the checklist item camera able to detect a triangle as completed

closed

not able to detect triangle yet