Added changes using the new box class into StationKeeping, incorporated corresponding tests.
Completed integrated changes with Box. Proceeding to rewrite StationKeeping Logic to be better.
Removed redundant references to unused functions and variables. Will move downwindHeigh references into box class. Need to clarify orientations and meanings with Josh.
Cleaned up downwind heigh references, integrated them into Box class.
Added tests for get Box Height
Changed some labelling to make more sense
Added a boat class to keep track of turning status
Added tests to cover boat class. However, need to debug, since running the GUI gives errors.
Added some notes on the setBoxCoords class. It is confusing.
Added some debug information. Fixed the duplicate debug waypoint error, box indices should be ok. However, I think there is a bug with getting boat distances. Will look into it. Boat seems to always be going south once stationkeeping is initialized.
Got most of the GUI working, with the exception of exiting the Box. I've traced it to a bug in the function: calculateHeadingForExit, where I think None is returned to target. This is a problem because target, if none, crashes for adjustSheetsForExit. I will inspect how the original version avoided this problem.
Got most of the GUI working, with the exception of exiting the Box. I've traced it to a bug in the function: calculateHeadingForExit, where I think None is returned to target. This is a problem because target, if none, crashes for adjustSheetsForExit. I will inspect how the original version avoided this problem.
Merge remote-tracking branch 'origin/StationKeeping_Cleanup' into StationKeeping_Cleanup
Got it working! The problem was a missing line from the original code which returned an angle for Compass Method to target, in calculateHeadingForExit.
Just deleted some redundant code. Couldn't finish the Failsafe tonight, but will work on it tomorrow.
Refactored code to support the structure of the FailSafe maneuver. I have already implemented the function in useFailSafeManeuver, but haven't injected it into the live code yet. Added a new standardcalc method, boundValue, along with appropriate tests. Will work on implementing it.
Worked further on Failsafe Maneuver, and added it into the live code. Have not yet tested it yet.
Made Fail Safe to use furthest corner coordinate as target, and update the destination index accordingly. However, in testing, I found it quite impossible to get the boat to trigger the failsafe. Boat was always far enough from the bottom.
Refactored lots of code! Adjusted the indexing so that North always means North, the Box corners are set properly and consistently, and the downwindHeights were moved into the Boat Class. Added some tests for FailSafe.
Set Mock to False, ready to push onto boat