Yes-mans-land waypoint generator

[AbBaSaMo]

Overview

The course has 4 waypoints indicating the start of no-mans land and the ramp and then the end of no-mans land and the ramp i.e. 4 positions and 1 waypoint for each of the positions.

These are GPS waypoints and provided to us by the comp organisers and then we need to input these to the ESDA. The problem is that in the rest of the course (which we will call yes-mans-land) there are no waypoints and so we need to generate waypoints for the ESDA to follow.

Acceptance criteria

• While the ESDA can detect lanes, it should generate a waypoint some distance in front of it to follow while avoiding obstacles
• Once the ESDA reaches this waypoint, it should generate another
• When there are no waypoints, the ESDA should switch to following the competition provided waypoints
• The ESDA must be able to turn in the right direction when approaching curves