After extensive work on the IMU and yaw controller, we were able to test out those changes in the pool. The sub was testing 6+ times and each time it moved in a straight path from one side of the pool to the other. If it moved slightly to the right or to the left, it properly corrected itself and got back on course. A video of this testing is shown in the "Our RoboSub" section of this website. It is also on youtube via the following link: https://youtu.be/KtR0rXpsh3Q
The next task will be to return to the vision and camera code and get that properly working underwater. Once that is functioning, the sub should be able to move through the gate smoothly and possibly follow the lines underwater.
The next task will be to return to the vision and camera code and get that properly working underwater. Once that is functioning, the sub should be able to move through the gate smoothly and possibly follow the lines underwater.