AlphaBit - OpenML

Auto Aim with IMU Only

Fallback Mode

IMU-only aiming is your most predictable backup mode when vision confidence drops. Build and tune this mode first.

Step 1

Read Heading and Pose

Heading source: GyroscopeBHIMU.

Position source: localizer pose estimate.

Use these to compute basket-relative angle.

Step 2

Apply Direction Logic

Core idea from ArtifactControl:

double calculatedAngle = Math.abs(Math.toDegrees(
    Math.atan2(positive_x_position, positive_y_position)
));

if (isRedAlliance) targetAngle = calculatedAngle;
else               targetAngle = 360 - calculatedAngle;

if (targetAngle - headingAngle > 0) {
    basketAngle = targetAngle - headingAngle;
    rotateToLeft = basketAngle < 180;
} else {
    basketAngle = 360 - Math.abs(headingAngle - targetAngle);
    rotateToLeft = basketAngle < 180;
}
if (basketAngle >= 180) basketAngle = 360 - basketAngle;

Step 3

Convert Angle to Turret + Flywheel Commands

Use turret position model + clamp bounds.

Use distance-based flywheel model + clamp bounds.

Apply deadzones before writing servos.

Step 4

Add Launch Gating

Require legal shooting zone.

Require stable motion state before auto release.

Allow emergency cancel anytime by driver.

Step 5

Tune for Repeatability

Test at short, mid, and long basket distances.

Measure shot grouping and adjust model coefficients carefully.

Re-check after drivetrain or turret maintenance.

Compare with Webcam Only, then move to IMU + Webcam Fusion.

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