1-16-26 Drive To Target

Mason Tsai, Anay Saran, Anthony Wheeler

Goals

• Test Drive To Target on Abruticus for functionality

• Add RingDriveCommand

Results

• Licensed Abruticus motors.

• Found issue with odometry; need to set operator heading correctly.

• Learned about calculating angles using atan2.

• Added RingDriveCommand and related constants in Constants.

Continuation

• Test RingDriveCommand.

Notes

• Thread Safety: parallel processes may interact and attempt to change or read values at the same time. Objects should be locked to prevent this.

• Use atan2 to find the closest point on a circle to a given point.