Implements velocity based coral detection and logging for testing #109
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Co-Authored-By: "Hang Fai Chow" <[email protected]> Co-Authored-By: "Daniel Zhang" <[email protected]> Co-Authored-By: ruirui3 <[email protected]>
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Feb 14, 2025
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| if (currentVelocity != 0) { | ||
| coralIntakeTime.start(); | ||
| } else { | ||
| hasCoral = false; | ||
| } | ||
| if (coralIntakeTime.hasElapsed(CORAL_INTAKE_INTERVAL)) { // TODO: Find coral intake interval. | ||
| coralIntakeTime.stop(); | ||
| coralIntakeTime.reset(); | ||
| hasCoral = true; | ||
| } |
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We'll need to comment this out when we run experiments to gather the additional current data in data logger.
The additional data logging is more generally useful, so it would be worth adding them in a separate PR we could merge while we work out an heuristic for coral detection.
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Note: The velocity based coral detection has not been tested