After recognizing a ball, the robot has to drive to ball in order to intake it. We performed several steps in order for the robot to drive to a ball after it recognizes it, with our procedure outlined below.
Steps
- Use detection to identify the target ball
- Find the center of detection of the target ball
- Turn robot until the center of detection equals the center of camera view (while driving forward)
- Repeat steps 2 and 3 until a ball is detected in the robot