Daniel Suzuki's Bootcamp #97

dasuzuki1 · 2024-09-14T18:18:28Z

No description provided.

…ment into elif final position is within acceptance radius of chosen landing pad

maxlou05

Reviewed

maxlou05 · 2024-09-14T19:32:01Z

modules/bootcamp/decision_simple_waypoint.py

+        self.command_index = 0
+        self.commands = [
+            commands.Command.create_set_relative_destination_command(
+                waypoint.location_x, waypoint.location_y


This command uses relative distance, so your position matters. You may end up going somewhere you didn't intend to.

maxlou05 · 2024-09-14T19:32:30Z

modules/bootcamp/decision_simple_waypoint.py

+            report.status == drone_status.DroneStatus.HALTED
+            and (
+                (report.position.location_x - self.waypoint.location_x) ** 2
+                + (report.position.location_y - self.waypoint.location_y)


I think you forgot to square the delta y

maxlou05 · 2024-09-14T19:33:26Z

modules/bootcamp/decision_simple_waypoint.py

+        ):
+            command = commands.Command.create_land_command()
+
+            self.has_sent_landing_command = True


This variable isn't really used for anything, so you can delete it

maxlou05 · 2024-09-14T19:34:13Z

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -67,8 +70,55 @@ def run(
        # ============
        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
        # ============
+        def square(number: int) -> float:


number probably should be a float

maxlou05 · 2024-09-14T19:34:53Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            return number**2
+
+        def squared_distance_from_position(
+            point: list[location.Location], current_position: list[location.Location]


point and position should probably just be 1 location, and not a list of locations

maxlou05 · 2024-09-14T19:35:39Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            if self.halt_at_initialization:
+
+                command = commands.Command.create_set_relative_destination_command(
+                    self.waypoint.location_x, self.waypoint.location_y


This is a relative distance comamnd, please take into consideration your own position

maxlou05 · 2024-09-14T19:36:41Z

modules/bootcamp/decision_waypoint_landing_pads.py

+                        squared_distance_from_position(landing_pad, self.waypoint)
+                        < self.shortest_distance[0] ** 2 + self.shortest_distance[1] ** 2
+                    ):
+
+                        self.shortest_distance[0], self.shortest_distance[1] = (
+                            landing_pad.location_x - report.position.location_x,
+                            landing_pad.location_y - report.position.location_y,
+                        )


You can probably just store the distance squared instead of both dx and dy and calculating the distance again many times

maxlou05 · 2024-09-14T19:37:15Z

modules/bootcamp/decision_waypoint_landing_pads.py

+                        self.closest_pad = landing_pad
+
+                command = commands.Command.create_set_relative_destination_command(
+                    self.shortest_distance[0], self.shortest_distance[1]


Because here, you can just use self.closest_pad, which is a Location (has its own x and y coords)

maxlou05 · 2024-09-14T19:39:24Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            elif (report.position.location_x**2 + report.position.location_y**2) / (
+                self.closest_pad.location_x**2 + self.closest_pad.location_y**2
+            ) <= (
+                (1 + self.acceptance_radius) ** 2
+            ):  # checks if current position is in acceptable radius of landing pad by making them a ratio


Not sure why you calculated like this ratio? You can just use the same way you did earlier with the comparing your distance to acceptance_radius

maxlou05

Reviewed

maxlou05 · 2024-09-15T01:03:38Z

modules/bootcamp/decision_simple_waypoint.py

@@ -37,7 +37,8 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
        # ============

-        # Add your own
+        self.halt_at_initialization = True
+        self.has_sent_landing_command = False


You can delete this here too

maxlou05 · 2024-09-15T01:04:41Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            elif (
+                (report.position.location_x - self.closest_pad.location_x) ** 2
+                + (report.position.location_y - self.closest_pad.location_y) ** 2
+            ) <= ((self.acceptance_radius) ** 2):


I think your brackets are wrong here, your elif ends before the <= operator

I've realized that when i use black modules , the brackets that I add at the front of 'elif' and after '**2' end are removed. Is there any way to resolve this?

maxlou05 · 2024-09-15T01:08:54Z

modules/bootcamp/decision_waypoint_landing_pads.py

+                    current_shortest_distance = (
+                        self.closest_pad.location_x - report.position.location_x
+                    ) ** 2 + (self.closest_pad.location_y - report.position.location_y) ** 2


You can use your square_distance_... function here too

maxlou05 · 2024-09-15T01:17:57Z

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -36,12 +36,16 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
        # ============
        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
        # ============
+        # set as closest landing to waypoint
+        self.has_sent_landing_command = False


Probably don't need this one either

maxlou05

Approved!

Daniel Suzuki and others added 13 commits September 12, 2024 22:28

detect landing pad assignment is finished

6233569

Got everything to work, now to try and have it align with style guide

6475dd9

Removed Test Prints

f58d22c

commented out pytorch

7c6c0e2

Fixed bug that made code choose wrong landing pad, changed else state…

59eb834

…ment into elif final position is within acceptance radius of chosen landing pad

used black style command on file

74363d7

changed verbosity to true

6397d68

used black . on it

e8374a4

moved variables to __init

3a3ab64

reformatted decision_waypoint_landing_pads

f99add2

reformatted detect landing pad

4ed6568

added annotation for functions

12c127a

reformatted again

2db4cbd

maxlou05 reviewed Sep 14, 2024

View reviewed changes

Improved code based on feedback

7921777

maxlou05 reviewed Sep 15, 2024

View reviewed changes

Daniel Suzuki added 4 commits September 14, 2024 22:46

made fixes again based on feedback

aa75507

fixed elif statement such that it does not ignore everything after <=

a275c5d

changed LHS side of elif statement with function that does same thing

e9e5458

reformatted using black

06021a6

maxlou05 reviewed Sep 15, 2024

View reviewed changes

maxlou05 closed this Sep 15, 2024

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Daniel Suzuki's Bootcamp #97

Daniel Suzuki's Bootcamp #97

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Daniel Suzuki's Bootcamp #97

Daniel Suzuki's Bootcamp #97

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