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Add Phoenix Pro features #6

Merged
merged 20 commits into from
Feb 3, 2024
Merged

Add Phoenix Pro features #6

merged 20 commits into from
Feb 3, 2024

Commits on Jan 17, 2024

  1. feat: use waitForAll to get timesynced signals

    @mimizh2418
    mimizh2418 committed Jan 17, 2024
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  2. fix: make swerve offset units consistent, swerve offsets happen in th… 

    …e same place
    @mimizh2418
    mimizh2418 committed Jan 17, 2024
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  3. feat: use fused CANCoder for swerve turn position

    @mimizh2418
    mimizh2418 committed Jan 17, 2024
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  4. bump: Phoenix 6 version

    @mimizh2418
    mimizh2418 committed Jan 17, 2024
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  5. Merge branch 'main' into zhangal/phoenixpro

    @rutmanz
    rutmanz authored Jan 17, 2024
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Commits on Jan 18, 2024

  1. Merge branch 'main' into zhangal/phoenixpro

    @rutmanz
    rutmanz authored Jan 18, 2024
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  2. fix: import CAN_BUS constant correctly

    @rutmanz
    rutmanz committed Jan 18, 2024
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  3. fix: use Rotation2d factory methods

    @mimizh2418
    mimizh2418 committed Jan 18, 2024
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Commits on Jan 24, 2024

  1. Merge branch 'main' into zhangal/phoenixpro

    @mimizh2418
    mimizh2418 committed Jan 24, 2024
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Commits on Jan 27, 2024

  1. feat: refresh all signals at the same time (scuffed implementation?)

    @mimizh2418
    mimizh2418 committed Jan 27, 2024
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  2. Merge branch 'main' into zhangal/phoenixpro

    @mimizh2418
    mimizh2418 committed Jan 27, 2024
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  3. feat: use pigeon instead of navx

    @mimizh2418
    mimizh2418 committed Jan 27, 2024
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  4. fix: potentially less scuffed signal refresher

    @mimizh2418
    mimizh2418 committed Jan 27, 2024
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Commits on Jan 29, 2024

  1. fix+feat: signal refresher no longer static, better periodic updating… 

    …, and error checking
    @mimizh2418
    mimizh2418 committed Jan 29, 2024
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  2. fix: don't print stack traces to declutter logs

    @mimizh2418
    mimizh2418 committed Jan 29, 2024
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  3. refactor: rename phoenixTimeSyncSignalRefresher to odometrySignalRefr… 

    …esher
    @mimizh2418
    mimizh2418 committed Jan 29, 2024
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Commits on Jan 30, 2024

  1. Merge branch 'main' into zhangal/phoenixpro

    @mimizh2418
    mimizh2418 authored Jan 30, 2024
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Commits on Feb 3, 2024

  1. AprilTag pose estimation (#18) 

    * feat: use SwerveDrivePoseEstimator for odometry tracking
* stop using scuffed AdvantageKit Twist2d way

* feat: AprilTag vision IO and implementation for Limelight

* feat: AprilTagVision subsystem

* feat: fuse vision poses with drivetrain poses

* fix: null vision poses no longer causing issues

* fix: actually fix null vision poses

* feat: limelight positioning adjusts based on elevator height

* fix: properly update rear camera tag poses

* feat: block vision updates with moving elevator

* fix: correctly pass in suppliers
* im dumb lol

* fix: use optionals for getting vision pose

* feat: change how vision pose accepter is used
* we can now change the code to filter out input from a single camera if the elevator is moving, instead of all cameras

* feat: untested vision sim io with photonvision sim support

* fix: use vision pose in sim

* fix: sim values as constants

* refactor: remove unnecessary IO input

* refactor: april tag layout declared in sim io instead of constants

* fix: correctly check robot rotational velocity
    @mimizh2418
    mimizh2418 authored Feb 3, 2024
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  2. Merge branch 'staging' into zhangal/phoenixpro

    @mimizh2418
    mimizh2418 authored Feb 3, 2024
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  3. fix: no duplicate constants

    @mimizh2418
    mimizh2418 committed Feb 3, 2024
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