commit 0a732cd9cc24c95c33385401d7f125e27cc13631
author Austin Schuh <austin.linux@gmail.com> Tue Mar 29 21:19:59 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 30 19:35:18 2022 -0700
tree 2a35677165cbeb7c6528304c301d7f3e1e9b3abf
parent d1744d26f7d0c45f613e23ba43081e0d6e92ee0b

Add initial shot table.

Also adjust the turret camera's mounting angle to match reality better
so the balls go in the middle of the goal.

Change-Id: Ifa0333fe5477002b7873f7cbfa0cf20c7b201d02
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/vision/camera_definition.py

diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 68549a4..219a41f 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -105,7 +105,7 @@
         camera_yaw = 0.0
         T = np.array([-7.0 * 0.0254, -3.0 * 0.0254, 34.0 * 0.0254])
     elif pi_number == "pi3":
-        camera_yaw = 180.0 * np.pi / 180.0
+        camera_yaw = 179.0 * np.pi / 180.0
         T = np.array([-1.0 * 0.0254, 8.5 * 0.0254, 34.0 * 0.0254])
     elif pi_number == "pi4":
         camera_yaw = -90.0 * np.pi / 180.0