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RMUL 2022 Sentry Release

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@bid-p bid-p released this 30 Jun 03:29
rmul_2022_finals_sentry
1d7d64d

Software used on our Sentry during RMUL 2022 Finals vs. ARUW.

Patch Notes:

  • Depth field addition to jetson_protocol.
  • Gimbal patrol points reduced to 3, specifically the two closer wall peek points and the enemy repair zone.
  • Evasion Changes:
    • DPS activation threshold reduced to 30.0
    • Randomized RPM thresholds boosted by +2000.0
    • Max traverse distance reduced to MAX + 400.0 from MAX + 600.0
    • BUG REPORT: Entering evasion sometimes causes Sentry to slam into side rails, requires investigation.
  • Match Fire Command Changes:
    • Added variable fire rate base on two factors: Target Depth and Current Health Percentage:
      • Lowers fire rate based on distance to target. (<=3m is 100% between MIN_FEEDER_SPEED and MAX_FEEDER_SPEED, >5m is 0% between MIN_FEEDER_SPEED and MAX_FEEDER_SPEED.
      • We invert our current health percentage and add that to the depth-based percentage before calculating a final feeder speed. This is an effort to ensure we've used all of our ammunition by the time the Sentry has been killed. View sentry_match_firing_control_command.cpp for further details.
      • NOTE: While our feeder did run during our finals match against ARUW, the new Sentry Match Fire Command has not been rigorously tested. Please investigate.
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