URC2017

Autonomous navigation stack as run on Gryphon at the 2017 University Rover Challenge. It took first place in the autonomy task.

Features:

• Communicates with base station, sensors and actuators over Rovecomm
• Can navigate to waypoints over rough terrain
  • Supports arbitrary number of intermediate waypoints for more complex paths
  • Dynamically compensates for slippery wheels / sand / rocks and sensor inaccuracies
• Searches around waypoints for tennis ball markers using machine vision

Known Limitations:

• Small oscillation in path when directly on track to target
  • Caused by mistuned crosstrack error correction
• Sometimes (rarely) mistakes patches of grass for tennis ball markers
• Does not attempt to avoid obstacles

What's Changed

• Refactor for code clarity by @omc8db in #13
• Supports blind nav and ball tracking by @omc8db in #21
• Bugfix/motor controller disable by @saen211 in #22

New Contributors

• @omc8db made their first contribution in #13
• @saen211 made their first contribution in #22

Full Changelog: https://github.com/MissouriMRDT/Autonomy_Software_Python/commits/2017