Continue on a row #221
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Continue on a row #221
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I couldn't understand the angle calculation and finish it today. If you like @pascalzauberzeug you can have a look at it. Otherwise I would love to understand it and work on it next week, with your help. |
LukasBaecker
requested changes
Nov 18, 2024
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
LukasBaecker
approved these changes
Nov 20, 2024
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We have to test it with a robot, but the wet soil currently doesn't allow it |
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Tested on U5 and is looking very delightful. |
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pascalzauberzeug
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that referenced
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Dec 3, 2024
In PR #221 we implemented the functionality to start the field navigation from anywhere on the field and inside its safety boundary. This PR adds test for this functionality - [x] test: continue on row - [x] test: do not continue if robot is between rows - [x] test: do not continue if robot's angle to a endpoint of a row is to big
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Currently, the robot wants to start at the nearest end of a row, but that leads to him turning on the row, if the start point is behind him.
This draft switches start and end point if the robot is between them.
I think this should do more than that.
If the robot is directly on a row, it should skip the approach state and just continue weeding
If it's somewhere between two rows, it should not start and display a message for the user to return to a suitable starting position