Grid tracking#27
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Woz4tetra
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Mar 29, 2023
| addGameObject(d.getName(), globalpos.getX(), globalpos.getY(), d.getPosition().z, 0); | ||
| } | ||
| removeInactiveGameObjects(); | ||
| fillGridZones(); |
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Instead of checking every place in the grid, you could just check the column that's closest to the robot. That'll save a lot of compute. Especially since the drivers aren't using the full grid's info.
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I know we said we wanted to detect links, but for an initial release, we should focus on getting the minimum requirements fulfilled. I heard performance was an issue, so let's focus on making this code as lean as possible.
Woz4tetra
commented
Mar 29, 2023
| int closestColumnIndex = 0; | ||
| double distance = 1000; | ||
| for (int i = 0; i < 9; i++) { | ||
| if (gridZones.get(i).getX()-m_coprocessor.getTagGlobalPoseInches().getX() < distance) { |
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I think you want to wrap this in Math.abs()
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also, I would store this value in a variable since you do the same computation a few lines down
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