---
title: meeting notes 2/5
tags: meeting-notes-spring-2022
---
# meeting notes 2/5

## networking
- separate path into segments of straight lines and 90$^\circ$ turns
- for things like knights, bishops, and queens, move other pieces away
- need router
- might be a problem if picos disconnect due to wifi issues
- sending motor driver inputs to picos (left and right)

## april tags
- need to calibrate camera, not the tags themselves (task for maybe newer peoples?)

## MPC or PID loops
- still do not know which one, so we shall continue to research
- outputs will be motor driver inputs
- inputs will be current position and target position
- 90$^\circ$ turns will be measured by the gyroscope
- but gyroscopes can have sway, so must check to see if the ones we have are okay orrr get computer vision to tell us how many degrees to manually correct it to
- https://www.amazon.com/gp/product/B07MMZ37PT/ref=ppx_yo_dt_b_asin_title_o07_s01?ie=UTF8&th=1

## computer vision
- use camera to make sure all robots are within certain degree of facing straight and if not, figure out how much to turn in what direction and which robots
- error checking kinda for gyroscopes ^
- (can also be a task for someone to take on)

## reformatting code
- so everything looks a little messy on github and we kinda need to merge the different files, so we're going to do that