Task Description:

The bots currently have no way to detect when it passes from one tile to the next. This is bad since PID requires 1. An accurate measurement of the tiles, 2. The bot must be able to center itself autonomously within a square, and 3. PID might drift, and thus the light sensors are needed to verify the bot is where it should be.

Implementation Steps:

This is a high priority task and will require steady progress. I will be checking in every week to ensure this

• During the runloop of the bot, you will need to have the light value polled
• Using the polled values, determine if there is a drastic change in values, this means there is likely a color change beneath the bot
• You will have to test in various light levels (Noon, Afternoon, dark, and inside with the chess tarp)
• You will likely want tracking variables that track which sensors have passed into a new tile. These variables can be used for the next stuff as well as PID
• During the beginning of a round, each bot will measure the tile it is in, then center itself. The measurement will be in encoder ticks, and will be stored for later when a driveTiles command is received.
• You will need to center in both the X and Y axis.

Expected Timeline:

This must be completed and tested within 4 weeks. We want to host an event preferably before finals

If you have any questions while working on this task, don't hesitate to do any one of the following:

• Ask a lead at a meeting
• Post in Discord
• Reply to this issue