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Changes from testing week of 2/19 and 2/26 #7

Merged
merged 49 commits into from
Mar 12, 2024
Merged

Changes from testing week of 2/19 and 2/26 #7

merged 49 commits into from
Mar 12, 2024

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shinthebinn
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  • Implemented arm and intake. Arm has position control and manual control functionality. Intake is purely duty cycle controlled with two settings (95% for intake, 75% for indexing)
  • Shooter is tuned and has presets for the speaker base and amp
  • Vision is implemented but has very little functionality outside of pose tracking. Still, inputs are logged correctly from the limelight-fv table.
  • Conversions turned into Math102. Will be used for general math-related functions like truncation and conversions.
  • ControllerUtil class created to move input scaling to a generalized position. May be used more in the future when need arises.
  • Various name changes to make inputs and variables more descriptive

lncompetant and others added 30 commits January 20, 2024 15:43
@lncompetant
Created visionIO. Need to create methods
8006c1b
@lncompetant
"finished" vision.io
359ca5a
@lncompetant
Merge branch 'shooter' of https://github.com/FIRSTTeam102/robot2024 i…
fcdf6b3 
…nto vision
@lncompetant
Began calculations for 2D odometry. Having issues with linking variab…
42e26e9 
…les from FieldVisionIO to swerve.java
@lncompetant
Made vision subsystem
086a8d0
@RushaliBetala
Configured bindings for intake starting
5305eb0
@RushaliBetala
Fixed teensy startIntake command error
196a628
@lncompetant
Added odometry stuff
215944b
@lncompetant
Made gamepiece part of vision
3f592cd
@shinthebinn
Merge branch 'arm' of https://github.com/FIRSTTeam102/robot2024 into arm
d4a99db
@shinthebinn
removing some stuff so branch actually resets
8148bbc
@shinthebinn
configured arm to use smartmotion (requires tuning)
b55d3b4
@shinthebinn
Updated arm to use 2 motors and throughbore absolute encoder
ac1abeb
@shinthebinn
added manual arm control and bindings for testcontroller
4c25b03
@shinthebinn
Updated CAN IDs to be correct (will have to adjust once wired)
f8069ec
@lncompetant
Final checks and revisions to piece and field vision. We need to tune…
0885a26 
… for the angles the limelight will be seeing
@shinthebinn
Merge branch 'test' into vision
611ff74
@carahegadorn
Merge pull request #5 from FIRSTTeam102/arm
127d853 
Set up arm for testing and added smart motion
@carahegadorn
Merge pull request #6 from FIRSTTeam102/vision
9408f9d 
Vision for testing
@shinthebinn
Fixed vision inputs bug, updated swerve offsets, added swerve voltage…
0b1198a 
… inputs
@shinthebinn
Tuning and stuff for testing
171191e
@carahegadorn
can ids of motors reassigned
fd0620a
@shinthebinn
Arm fixes and manual control updates
34dce68 
invert the follower motor correctly, compensate voltage, rename stopArm() to stop(), added inputs, added deadbanding and proper holding to manual control
@shinthebinn
Arm changes from testing
c10a1fc 
Configured feed-forward voltage, added axis scaling to manual control and also moved to its own file in /util/, moved manual control activator to RS
@shinthebinn
Added commands based on brayden's doc w/ comments for holes
5c29159
@shinthebinn
smart motion arm control :)
0ad0d62
@shinthebinn
added command to move arm w/ intake
9a47420
@shinthebinn
Rename setArmPosition.java to SetArmPosition.java
6510f26 
keep it consistent with our naming scheme
@shinthebinn
tuning and stuff 2/26
f6839c4 
Added some commands for preliminary drive team stuff, updated swerve offset, tuned shooter, got subwoofer and amp presets for shooter, tuned intake speed, arm is a bit slower (may need to tune better soon)
@shinthebinn
Made the temporary amp preset move arm also
22f45f7 
More consistent with the subwoofer base preset which also sets the arm angle
@shinthebinn
make IntakeWithArm not run if there is a note
0f7be41
@shinthebinn
made temp arm command a onTrue instead of whileTrue
f94df8d 
sorry for the ton of commits, these changes were not tested and were made quickly
@shinthebinn
2/28 tuning
691c73a 
Updated angle and shooter speed for amp, updated angles for holding/intaking/subwoofer shot, made target-space entry actually publish
@shinthebinn
Updated angle presets
a3c1782
shinthebinn and others added 15 commits March 1, 2024 19:35
@shinthebinn
constructor called incorrectly -- removed auto-generated error method
917e55d
@shinthebinn
new offsets and arm max angle increase
ff51051
@shinthebinn
testing changes 3/4 (small stuff no big)
6a4dec5
@carahegadorn
added reset factory defaults to both lead & follower SparkMax's to gu…
726bda7 
…arentee no stray settings - 2 follower errors
@carahegadorn
added gamepiece vision command and vision constants - using pinchy kP…
953cd03 
…,kD values
@carahegadorn
added driver left bumper binding for game piece vision
4ed4ec9
@lncompetant
Made Auto align commands
a7e543a
@shinthebinn
prioritize speaker ID, change offsets, add filter to vision stuff
a50e2e1
@lncompetant
Made angle offsets
bb0aa1f
@shinthebinn
added methods to estimate scoring position via math and hashmap (need…
bca583f 
…s testing)
@shinthebinn
Merge branch 'test' of https://github.com/FIRSTTeam102/robot2024 into…
803c35c 
… test
@shinthebinn
merge conflicts incorrectly fixed
9b87c25
@carahegadorn
AprilTagVision command - subsystems vision & swerve should be private…
ec2c80d 
…, but they are not static (constants)
@carahegadorn
restore factory defaults & burnFlash our settings in SparkMax - make …
30fb879 
…sure we don't collide with rev hwc
@shinthebinn
gamepiece vision tuning and also climber!
4bff607
carahegadorn
carahegadorn approved these changes Mar 12, 2024
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@carahegadorn carahegadorn left a comment

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I this has all been tested - we need to get main up to what's been tested in the test branch...

@carahegadorn carahegadorn merged commit 0d1d3cf into main Mar 12, 2024
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@carahegadorn carahegadorn carahegadorn approved these changes

@rmaizel rmaizel Awaiting requested review from rmaizel

@JosephMurdockCoding JosephMurdockCoding Awaiting requested review from JosephMurdockCoding

@RushaliBetala RushaliBetala Awaiting requested review from RushaliBetala

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5 participants
@shinthebinn @caburum @carahegadorn @lncompetant @RushaliBetala