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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

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  4. bump: Phoenix 6 version

    mimizh2418 committed Jan 17, 2024
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Commits on Jan 18, 2024

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Commits on Jan 24, 2024

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Commits on Jan 27, 2024

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Commits on Jan 29, 2024

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Commits on 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 authored Feb 3, 2024
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