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Mode2 improvements #7188

Merged
merged 6 commits into from
May 12, 2021
Merged

Mode2 improvements #7188

merged 6 commits into from
May 12, 2021

Commits on May 10, 2021

  1. Try not to pass in front of the combine

    @pvaiko @Tensuko
    pvaiko authored and Tensuko committed May 10, 2021
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  2. areaToAvoid reaches the fruit now 

    - also, debug channels cleaned up, now you need
pathfinder channel to see the area to avoid.
    @pvaiko @Tensuko
    pvaiko authored and Tensuko committed May 10, 2021
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  3. buffer for trailer width added for pathfinding

    @pvaiko @Tensuko
    pvaiko authored and Tensuko committed May 10, 2021
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  4. Pathfinder Tweaks 

    - Increase the the distance to the target, where we don't swerve for our combine. (20 -> 75)

- To prevent crashing into a working combine, an increased distance to the fruit by 1 should help. (3 -> 4)

- For Mode2, we don't generate a course with trailers anyway. For Trucks, it can cause some unwanted conflict course with our combine. To prevent that, we don't generate a reverse course at all. (an increased turnradius is needed too, tested with 20m)  #7169
    @Tensuko
    Tensuko committed May 10, 2021
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  5. Image Update for ModHub

    @Tensuko
    Tensuko committed May 10, 2021
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  6. Update Version

    @Tensuko
    Tensuko committed May 10, 2021
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