Week 1 @ Ashland (#40)

* refactored to primary vision system for photonvision * removed northstar instances * remove sim instances * Add field frame estimator Estimates the transform between the odometry frame and the field frame, given drive poses in the odometry frame and vision poses in the field frame. Topic: field-frame-estimator Reviewers: saraansh, rithvik * Pull TimestampedVisionUpdate out of pose estimator Topic: refactor-vision-update Relative: field-frame-estimator Reviewers: saraansh, rithvik, pranav * Use field frame estimator in drivetrain Topic: field-frame-drivetrain-2 Relative: refactor-vision-update Reviewers: saraansh, rithvik, pranav * Pull TimestampedVisionUpdate out of pose estimator Topic: refactor-vision-update Relative: field-frame-estimator Reviewers: saraansh, rithvik, pranav * Use field frame estimator in drivetrain Topic: field-frame-drivetrain-2 Relative: refactor-vision-update Reviewers: saraansh, rithvik, pranav * MVP fixes * change to proper PID constants and use x/y constants * four note auto * reseet pose * apply odomTField on odom pose when state is odom but path is field * update names for path following * even better naming * revert to four note auto * new autos * tune amp score * add characterization * week0 prep * trap scoring * practice changes * rumble w/ intake * week0 final commit * auto tuning 2/25/23 * add superstructure commands * finished auto * test auto path for tuning * any changes * tune auto better * autos so far * target angle command * target angle with gyro * turn down default rpm in auto * autos + voltage comp * vision + spotlessApply * 2/27/24 changes so far * autos butmore efficient * tune times better * turn back to shuffleboard and alliance stuff debugged * Add note sim * add protected high * more note sim * tune auto align * fix conflicts * add leds * display alliance color * finished shuffleboard stuff * autos so far * add prep score command so it actually reaches targeted position * preload + leave autos * make the robot go further into the last note on 4 wing auto * fix left subwoofer path * characterizing wheel radius * drivepractice fixes * final tuning post week 0 * finish tuning protected shot * add auto align * get align working in sim again * quals 1-6 * fix drivetrain zeroing * make all week 1 changes --------- Co-authored-by: AlphaPranav9102 <[email protected]> Co-authored-by: Parth Oza <[email protected]> Co-authored-by: Parth Oza <[email protected]> Co-authored-by: Matthew Choulas <[email protected]> Co-authored-by: Shom770 <[email protected]>
team4099 · Mar 5, 2024 · 740e068 · 740e068
1 parent 0af5b02
commit 740e068
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Showing 62 changed files with 3,412 additions and 1,074 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.85,
+  "robotLength": 0.952,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],

diff --git a/simgui-ds.json b/simgui-ds.json
@@ -4,21 +4,16 @@
       "visible": true
     }
   },
-  "System Joysticks": {
-    "window": {
-      "visible": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
         {
-          "decKey": 65,
-          "incKey": 68
+          "decKey": 68,
+          "incKey": 65
         },
         {
-          "decKey": 87,
-          "incKey": 83
+          "decKey": 83,
+          "incKey": 87
         },
         {
           "decKey": 69,
@@ -103,6 +98,9 @@
   "robotJoysticks": [
     {
       "guid": "Keyboard0"
+    },
+    {
+      "guid": "Keyboard1"
     }
   ]
 }
diff --git a/simgui.json b/simgui.json
@@ -14,8 +14,17 @@
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/Pre-match/Alliance": "String Chooser",
       "/Shuffleboard/Pre-match/Mode": "String Chooser",
+      "/SmartDashboard/AllianceColor": "String Chooser",
       "/SmartDashboard/AutonomousMode": "String Chooser"
+    },
+    "windows": {
+      "/Shuffleboard/Pre-match/Mode": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   },
   "NetworkTables": {
@@ -26,6 +35,18 @@
       "AdvantageKit": {
         "open": true
       },
+      "Shuffleboard": {
+        "Pre-match": {
+          "Mode": {
+            "open": true,
+            "string[]##v_/Shuffleboard/Pre-match/Mode/options": {
+              "open": true
+            }
+          },
+          "open": true
+        },
+        "open": true
+      },
       "SmartDashboard": {
         "TunableNumbers": {
           "Flywheel": {
@@ -41,6 +62,24 @@
     }
   },
   "NetworkTables Info": {
+    "AdvantageScope@1": {
+      "Publishers": {
+        "open": true
+      },
+      "Subscribers": {
+        "open": true
+      },
+      "open": true
+    },
+    "Clients": {
+      "open": true
+    },
+    "Server": {
+      "open": true
+    },
     "visible": true
+  },
+  "NetworkTables View": {
+    "visible": false
   }
 }
diff --git a/src/main/deploy/pathplanner/paths/4AndPickupNoteAuto.path b/src/main/deploy/pathplanner/paths/4AndPickupNoteAuto.path
@@ -0,0 +1,170 @@
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