commit b9ba9a5289b54eb0b1b910832e65362346065851
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 31 22:16:01 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 06 17:09:04 2022 -0700
tree c6547ee8eb4a5f3de230ea93a78cca44bc82b9d9
parent 235e2d9764761a071fd5f2283002be3dd89dc0d6

Add interpolation table for auto-aim speed-over-ground

We actually have a shot velocity that varies significantly with
distance.

Change-Id: I3a4a59ef3cb181c9f437d50f865d04f710a7f961
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
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 61789cb..f59f2cf 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -105,7 +105,7 @@
         camera_yaw = 0.0
         T = np.array([-7.5 * 0.0254, -3.5 * 0.0254, 34.0 * 0.0254])
     elif pi_number == "pi3":
-        camera_yaw = 179.0 * np.pi / 180.0
+        camera_yaw = 178.5 * np.pi / 180.0
         T = np.array([-1.0 * 0.0254, 8.5 * 0.0254, 34.25 * 0.0254])
     elif pi_number == "pi4":
         camera_yaw = -90.0 * np.pi / 180.0