Week 4 (Owings Mill) (#41)

* camera tag corners * angle estimation strategy * lol * fix merge conflicts * auto tuning so far today * tuned vision shot * add tuning to week2 * driver practice 3/11 * speed up dt * theta PID constants + proper serialization + Logger.recordDebugOutput * ff characterization command * finished ff characterization command * auto tuning 3/13 * field oriented closed loop driving for module tuning * attempted module tuning * add untested 5 note auto * five notegit add . * finished debug stuff * passing shot stuff * remove /12 * auto fixes and shooting tuning * fix merge conflicts * log encoder position * fix merge conflicts p2 * work from today: * remote sensor working * fix merge conflicts p3 * fix merge conflicts p4 * fix merge conflicts p5 * fix merge * p6 * sm merge conflicts * almost done * merge conflicts * merge conflicts fixed again * five note working * fix all merge conflicts * change extensions.kt to debug logger * fix leds hopefully * parrallelize 5 notes auto wrist * week 4 q1-29 * fix passing shot * 2 note centerline * hopefully no delay in autos * make auto aim work using odometry * three note centerline amp auto * three note + pickup from source auto * fix wrist and climb angle * end of week 4 comp * latest code * 5 note changes * more auto changes * theta recorrects * intake and vision fixes * changes idk * 5 note auto almost working -- pathfollowing tuning * (hopefully) working 5 note * auto in the wrong place * flywheel and otf tuning * more 5 note shi * 5 note * 6 note auto * retune amp and feeder * fix merge conflicts * more 5 note stuff * add smart amp and note auto alignment * add smart amp and note auto alignment * make 3 note 4 note * working code * switch to profiled PID for drive path command Profiled PID controller means that our PID will be more snappy for larger amounts of error, which happens a lot with the rotation of the robot. * Add back the commands for the 5 note * Remove unnecessary comments in Robot.kt * Spotless apply before merge. --------- Co-authored-by: AlphaPranav9102 <[email protected]> Co-authored-by: Matthew Choulas <[email protected]> Co-authored-by: Saraansh Wadkar <[email protected]>
team4099 · Mar 31, 2024 · ae5b851 · ae5b851
1 parent 740e068
commit ae5b851
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Showing 104 changed files with 5,703 additions and 1,173 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,12 +1,12 @@
 {
-  "robotWidth": 0.85,
-  "robotLength": 0.952,
+  "robotWidth": 0.66,
+  "robotLength": 0.66,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
+  "defaultMaxVel": 3.5,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 270.0,
   "defaultMaxAngAccel": 600.0,
-  "maxModuleSpeed": 3.0
+  "maxModuleSpeed": 3.5
 }
diff --git a/build.gradle b/build.gradle
@@ -2,8 +2,8 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
 	id "java"
-	id "org.jetbrains.kotlin.jvm" version "1.6.10"
-	id "edu.wpi.first.GradleRIO" version "2024.2.1"
+	id "org.jetbrains.kotlin.jvm" version "1.6.0"
+	id "edu.wpi.first.GradleRIO" version "2024.3.1"
 	id "com.diffplug.spotless" version "6.3.0"
 	id "com.peterabeles.gversion" version "1.10"
 	id "org.jetbrains.kotlinx.kover" version "0.4.2"
@@ -87,6 +87,7 @@ dependencies {
 	implementation 'org.apache.commons:commons-collections4:4.0'
 	implementation 'com.google.code.gson:gson:2.10.1'
 	implementation "io.javalin:javalin:5.3.2"
+	implementation "gov.nist.math:jama:1.0.3"
 
 	// We need to add the Kotlin stdlib in order to use most Kotlin language features.
 	// compile "org.jetbrains.kotlin:kotlin-stdlib"

diff --git a/simgui.json b/simgui.json
@@ -74,6 +74,9 @@
     "Clients": {
       "open": true
     },
+    "Connections": {
+      "open": true
+    },
     "Server": {
       "open": true
     },

diff --git a/src/main/deploy/pathplanner/paths/3 note auto.path b/src/main/deploy/pathplanner/paths/3 note auto.path
@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.4353122681168922,
+        "y": 6.599687955484906
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4089441986763847,
+        "y": 6.384061887043822
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
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+        "y": 6.292790417717031
+      },
+      "prevControl": {
+        "x": 3.1076892656431605,
+        "y": 6.27784919159728
+      },
+      "nextControl": {
+        "x": 5.6050847267357975,
+        "y": 6.300934892375481
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.125444951049996,
+        "y": 7.452889295278789
+      },
+      "prevControl": {
+        "x": 7.130589600518487,
+        "y": 6.610606330110338
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 270.0,
+    "maxAngularAcceleration": 600.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/4 note centerline auto.path b/src/main/deploy/pathplanner/paths/4 note centerline auto.path
@@ -0,0 +1,159 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7173996760500974,
+        "y": 6.565508998353678
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.555119295355076,
+        "y": 5.634077091436045
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.742647710559476,
+        "y": 6.944752946475545
+      },
+      "prevControl": {
+        "x": 5.205260844050375,
+        "y": 6.83199871446017
+      },
+      "nextControl": {
+        "x": 6.307184491030538,
+        "y": 7.063203759276289
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.011889957811333,
+        "y": 7.437737927960554
+      },
+      "prevControl": {
+        "x": 6.9255550889526285,
+        "y": 7.401962318832323
+      },
+      "nextControl": {
+        "x": 8.41341650196685,
+        "y": 7.450961158761761
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.534309232539927,
+        "y": 6.433553662792256
+      },
+      "prevControl": {
+        "x": 6.5112943859614205,
+        "y": 6.918469113918448
+      },
+      "nextControl": {
+        "x": 3.973961025110295,
+        "y": 6.296111303489134
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.182455809721393,
+        "y": 5.789537970066136
+      },
+      "prevControl": {
+        "x": 6.86458841371461,
+        "y": 6.557616907301846
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+      "nextControl": {
+        "x": 8.388072766841134,
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+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
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+      "prevControl": {
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+        "y": 7.056402536275015
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+        "x": 3.169678494597896,
+        "y": 4.522673403857257
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+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.011889957811333,
+        "y": 4.091051042493323
+      },
+      "prevControl": {
+        "x": 7.17446454036676,
+        "y": 4.223585978625708
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+      "nextControl": {
+        "x": 8.56422220208809,
+        "y": 4.003636310155177
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.2542200299280735,
+        "y": 5.010933615765413
+      },
+      "prevControl": {
+        "x": 6.077102383375072,
+        "y": 4.143657250497984
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 270.0,
+    "maxAngularAcceleration": 600.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -23.431739603226806,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 60.17646968828584,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/4AndPickupNoteAuto.path b/src/main/deploy/pathplanner/paths/4AndPickupNoteAuto.path
@@ -150,7 +150,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 3.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 600.0

diff --git a/src/main/deploy/pathplanner/paths/4NoteAuto.path b/src/main/deploy/pathplanner/paths/4NoteAuto.path
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 2.4,
-        "y": 6.975077486323955
+        "x": 2.930867001997314,
+        "y": 7.04927269938452
       },
       "prevControl": {
-        "x": 1.8081527395083707,
-        "y": 6.967733500350662
+        "x": 2.339019741505685,
+        "y": 7.041928713411227
       },
       "nextControl": {
-        "x": 2.6463913517236755,
-        "y": 6.978134853911492
+        "x": 3.1772583537209895,
+        "y": 7.052330066972057
       },
       "isLocked": false,
       "linkedName": null
@@ -48,15 +48,15 @@
     },
     {
       "anchor": {
-        "x": 2.337981361851478,
+        "x": 2.8039263987960847,
         "y": 5.501318674946378
       },
       "prevControl": {
-        "x": 1.7239291602064108,
+        "x": 2.1898741971510174,
         "y": 5.488891565963109
       },
       "nextControl": {
-        "x": 2.7674829050953003,
+        "x": 3.233427942039907,
         "y": 5.510010871590367
       },
       "isLocked": false,