Update image, articulate 3D model for AdvantageScope to render, simulation fixes, smoother simulation.#145
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…hat makes sysid impossible.
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This will be finished once I get back onto software 2 and push the rest of my changes up. |
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This updates the readme with a nice image of the robot, and adds component rendering to the codebase. This change can help those on the team who prefer to look at data visually, rather than trying to visualize angles and distances, and is also very nice, and impressive for demonstrating or showing auto modes to judges / other teams or for overall match review purposes. It also can help with reviewing issues by making it simpler to be able to visually see when something was happening, to isolate the part of the log file that includes an issue. For more information about 3d AdvantageScope components: look here.
As for performance, the only math this change will perform is simple addition with pose objects, and it requires no complex math that would take a lot of time. If this becomes an issue with periodic loop cycles, we can easily remove this.
This also changes some aspects of simulation (not Xero Simulation, standard simulation) to simulate coral collections, and to skip the elevator homing sequence without manual DIO flipping, and tunes the simulation PID constants.