Raccoon WikiDeep Dives
This section covers the key algorithms and techniques that power LibSTP’s sensor and motion systems. Understanding these is not required to use the SDK — the high-level steps handle everything — but it helps when tuning parameters or debugging unexpected behavior.
| Page | What It Does |
|---|---|
| Line Following | PID-based edge tracking with profiled and directional variants |
| Lineup | Single-pass geometric line alignment |
| IR Sensor Calibration (K-Means) | Clustering-based threshold detection for IR sensors |
| Wait for Light | Kalman-filtered start lamp detection with test/arm workflow |