Finalizing the Behavior Tree and Testing the Camera

Today, we worked on finalizing our behavior tree sequencing and structure, cleaning up our old workspace, and testing our camera with an old model. Our behavior tree structure was mostly finalized, though we decided to go through the competition task descriptions to make sure everything was correctly implemented. We found that some aspects of our behavior tree structure were sequenced incorrectly and tailored for parts that weren't included in this year's sub. For example, we changed the ordering of the sequencing so that the sub would initialize first, creating a more sensible ordering. Another thing we changed was removing unnecessary checks and conditions. Lastly, we removed conditions involving hydrophones, which we do not plan on utilizing in this year's sub.

Cleaning Up and Testing the Camera

We also cleaned up our old workspace so everything was more organized and reflective of this year's competition. Moreover, we also tested our camera with last year's model, just to make sure the model worked smoothly with our current pipeline.