Estimation of hub position after vision is lost #24
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Contributor
e3l
commented
Feb 18, 2022
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e3l
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This should be merging into |
ky28059
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Mar 13, 2022
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Hmm, it didn't automatically get closed in the commit message :( |
eggaskin
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Mar 28, 2022
* Initial test with chained paths * Start on auton sequences This introduces some semi-sketchy callback logic to InternalSubsystem to implement a "WaitUntilShotFired" command. Perhaps we should think of a better way to do this. * changed turret turntable CIM/Talon to NEO/SparkMax * Turret encoder constants and PID tuning framework * Small progress on tuning * Odometry based turret tracking * Tuned turret controller and implemented drivetrain tracking * Merge Ethan's feedforward / relative angle code * Fix discrepancies in cherry picking * Flywheel configuring * Copy flywheel gear ratio from `develop`, rebase * Driver override for intake with 2 second buffer * Intake limit switch * Ring light toggling * Rudimentary turntable FF * Turntable limit switches, angle constraining * Turret lazy tracking * Turntable testing, runtime error fixes * Turret interpolation framework * climb testing code (without turret testing, comment in/out as needed) * Climb port shuffling * Fixed intake logic bug * PID constants after turret tuning * Hood constants * Reenable turret angle locking * Use GRTNetworkTableEntry to hopefully improve loop overrun * Use NetworkTable callbacks * Changed shoot command to not use a callback * Touched up turret PID, remove threaded pose estimation, reset pose on construct * Flywheel PID tuning setup * Tune flywheel PIDF * Add ball coordinates to constants * Tune min and max angles, theta FF * Shooter testing * Measure encoder + path following constants The measured `kP` seems scarily high, but unsure if this is a SysId issue or not (I had trouble getting data analysis to work properly). Will test hopefully soon. * Add interpolation table entries, fix logic * Merge `rtheta` into `shooter-testing`, closes #24 * Turret setInitialPose method * Working `rtheta` + interpolation * Initial position setting in RobotContainer * Clean things up, add more debug flags * Correct `setInitialPose` logic * Tweaks for easier testing + jetson thread sleeps + jetson debugging + L + ratio * Flywheel disabling when robot is moving * Read latest jetson line * Tuned intake deploy PID * Networktable callbacks, add periodic PID back * Stop entrance if 5 seconds have passed * More debug flags We should test the tolerance logic * Finish red sequences, `GRTAutonSequence` abstraction * Blue auton sequences * Auton sequence abstraction * Distance and theta offsets, controller bindings * Distance offset in interpolation logic * Preliminary testing routine * Merge with new offset methods * Camera server automatic capture, cleanup, constants * Merge auton code, more cleanup * Offset and intake gamepad tweaks * smoll debugs * Intake 'auto deploy' returns to state position when rollers are not powered, rather than default of 'RAISED' * Climb PID testing framework * Fix intake logic error, turret cleanup * add turret freezing and tweak driver commands to match doc * Some cleanup * Jetson disabling on shuffleboard, hopefully fix intake * Manual climb control on right mech joystick * Intake internals check shuffleboard button, auton ball localization change * Force shot when button pressed twice * Move climb to right mech joystick * Debug flag to skip auton if needed * Fix climb, troubleshoot shooter * more comp tuning * turret low hub mode * Shuffleboard auton sequences as int * drivetrain slowmode, shooting logic shifts, beginning of pleb auto * climb tweaks * more adjustments, post-comp push * low hub lock turret * Internals transition states * Decorate auton with timeouts * Interpolation clamping * Clamp distance offset between max-min and -(max-min) * Pleb auton path shot requested logic * Skip auto option, driver override flywheel logic * Auto 2 ball fixes * GRTNetworkTable abstraction * final comp tweaks * Even more shuffleboard abstraction, pilot with turret Co-authored-by: eggaskin <[email protected]> Co-authored-by: unknown <[email protected]> Co-authored-by: pinkbluesky <[email protected]>
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