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* Arm Trapezoid Motion Profile * Fixed compilation error * Cleaned up Arm API. Removed redundant ArmIO input values * Cleaned up Arm Subsystem Interface * Fixed reported currentDraw in ArmIOStub * Updated camera location based on measurements * Add error to vision camera simulation * Add 2d based pose estimate * Adjust arm trapezoid profile constraints based on testing * Add vision pose estimates to drivetrain * Update gyro using vision * spotlessApply * "Drive to Amp" command (test) * Shooter Subsystem Cleanup (#104) * Added arm backlash compensation code (#103) * Added 3 degree backlash compensation * add side vision cameras (#106) * Add left/right vision cameras * Only run arm command when driver assist is actuating stick * Improved 4-Note (Center) v2.0 C231 * Added 4-Note (Center) v2.1 C231 M5 * Update TestShooteAngle command to only update subsystem if the shuffleboard value has changed * Fixed P to 8 Center Sweep Routine * Fixed "Drive to Amp" command * Updated "Drive to Amp" to correct yaw and decrease acceleration * Add support for a second intake sensor (#107) * Add support for a second intake sensor * Made changes to drive controls * Fixed drive to amp driver control * Do not control arm for prepare to score when in amp mode * Avoid using arm at all when aiming for amp * Split rightBumper to 4 separate triggers * Split ParallelCommands into separate scheduled commands * Set default scoring mode to vision-based * Recalibrate shooter camera location --------- Co-authored-by: joshuman <[email protected]> * Update LedSystem.java changed color from hot pink to deep pink * Re-Measured left/right camera locations * Remove Arm Backlash Compensation * Updated getArmAngleFromDistance() to use 2nd-degree polynomial and latest distance/angle calibration data * Fixed typo * Practice Tweaks --------- Co-authored-by: Maciej Wiczynski <[email protected]> Co-authored-by: joshuman <[email protected]> Co-authored-by: Adi Prajapati <[email protected]>
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src/main/deploy/pathplanner/autos/4-Note (Center) v2.1 C231 M5.auto
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,182 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 1.35, | ||
| "y": 5.55 | ||
| }, | ||
| "rotation": 0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Score from C (Subwoofer Center)" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "C to 2" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Intake Piece v2.0" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "2 to C" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Prepare to Score from C (Subwoofer Center)" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Score from C (Subwoofer Center)" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "C to 3" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Intake Piece v2.0" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "3 to C" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Prepare to Score from C (Subwoofer Center)" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Score from C (Subwoofer Center)" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "C to 1" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Intake Piece v2.0" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "1 to C" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Prepare to Score from C (Subwoofer Center)" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Score from C (Subwoofer Center)" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "C to 5" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Intake Piece v2.0" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Turn off Shooter and Intake" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
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