Targeting command #37
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forcing reupload Topic: field-frame-drivetrain-2 Relative: refactor-vision-update Reviewers: saraansh, rithvik, pranav
* Use field frame estimator in drivetrain Topic: field-frame-drivetrain-2 Relative: refactor-vision-update Reviewers: saraansh, rithvik, pranav * allow pathfollowing to follow either frame * follow field coordinates in odo frame * set odoTField on command initialize * disallow shifting by odoTField when in field frame * fix var names * working frame irl * frame path following integration * working frame conversions for path following * progress without path planner * working frame following * do proper calculation for applying path transformation * use drivetrain rotation as starting point if one is not provided * assume coordinates are relative to path frame * Enforce check to make sure waypoints match path frames (#33) * enforce check to make sure waypoints match path frames * end command if things don't agree * rename + don't flip odowaypoint * Compile time errors for conflicting waypoints (#35) * enforce check to make sure waypoints match path frames * end command if things don't agree * rename + don't flip odowaypoint * compile time error for conflicting frame path definitions * remove path frame reference * proper naming for these constructors * spotless pls work --------- Co-authored-by: Parth Oza <[email protected]>
sswadkar
requested changes
Feb 21, 2024
src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetPoseCommand.kt
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src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetPoseCommand.kt
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src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetPoseCommand.kt
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src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetPoseCommand.kt
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Command that aims the robot at a object in either the field or odometry frame. It allows the driver to still drive around but makes the theta closed loop so it corrects the angle to aim at the object itself. This is useful especially for this year's game when we want to be aimed at the speaker.