Conversation
- Drive implemented - Akit removed - YAGSL removed - Logging fixed - Vision fixed - MapleSim removed
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✅ State machine graph generated and uploaded. All states connect to IDLE. |
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Extra note: Motors for everything but drive I think are wrong so we need to fix that |
GreenTomato5
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GreenTomato5
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The pose estimation stuff is kinda silly, should test this on bot before merging anything (even tho the repo is untested)
| ); | ||
| private final double kS = GlobalConstants.ROBOT_MODE == RobotMode.SIM ? SIM_KS : REAL_KS; | ||
| private final double kV = GlobalConstants.ROBOT_MODE == RobotMode.SIM ? SIM_KV : REAL_KV; | ||
| private final DifferentialDrivePoseEstimator poseEstimator = new DifferentialDrivePoseEstimator( |
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y are we pose estimating drive? 😭 it should just be like
-get angle and distance to tag
-rotate until camera says were at a good angle
- pivot shooter and decide wheel speed based on distance
no pose estimation required
| public void setSpeed() { | ||
| io.setSpeed(); | ||
| /** Runs the drive in open loop. */ | ||
| public void runOpenLoop(double leftVolts, double rightVolts) { |
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yeah we lwky only need open loop but its unserious and if you made it and it works first try on the bot wtv
| public static final double CURRENT_LIMIT_OFFSET = 15.0; | ||
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| // Velocity PID configuration | ||
| public static final double REAL_KP = 0.0; |
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we have util classes for these constants if you want to consolidate them on one line, also unserious (you can also use a simpleff supplier like we do for other subsystems) But this is also fine
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I would delete the entire vision pose estimation system 😭 😭 or like, idk its just not needed and its more code
This aged poorly 🪫🪫🪫 |
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✅ State machine graph generated and uploaded. All states connect to IDLE. |
GreenTomato5
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GreenTomato5
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Looks good, need to wait for non centered camera vision solution- or at least should -to see if a more complex distance or angle calculation is required for a centered cam
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Tank drive should work in theory.
Main thing that needs review is tank drive, mostly stollen from mechanical advantage so somethings are a bit strange.
Also a bunch of cleanup stuff so giant ahh pr.
Things to do future: