fix: changed coinflip detection classes and switch path_align default search direction to left+forward

Author: SarangaR

src/missions/coinflip.rs

@@ -110,10 +110,13 @@ pub fn coinflip<
                 ),
                 act_nest!(
                     wrap_action(ActionConcurrent::new, FirstValid::new),
-                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Blue),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Gate),
                     DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Middle),
-                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Red),
-                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Pole),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::LeftPole),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::RightPole),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Shark),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Sawfish),
+
                 ),
                 CountTrue::new(TRUE_COUNT),
             ),

src/missions/path_align.rs

@@ -101,7 +101,7 @@ pub async fn path_align_procedural<
         logln!("Positive detection count: {consec_detections}");
     }
     let _ = cb
-        .stability_2_speed_set(0.0, 1.0, 0.0, 0.0, last_set_yaw, config.depth)
+        .stability_2_speed_set(1.0, 0.3, 0.0, 0.0, last_set_yaw, config.depth)
         .await;
     sleep(Duration::from_secs(1)).await;
 }