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Changes from testing week of 2/19 and 2/26 #7
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Member
shinthebinn
commented
Mar 2, 2024
- 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
…les from FieldVisionIO to swerve.java
… for the angles the limelight will be seeing
Set up arm for testing and added smart motion
Vision for testing
invert the follower motor correctly, compensate voltage, rename stopArm() to stop(), added inputs, added deadbanding and proper holding to manual control
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
keep it consistent with our naming scheme
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)
More consistent with the subwoofer base preset which also sets the arm angle
sorry for the ton of commits, these changes were not tested and were made quickly
Updated angle and shooter speed for amp, updated angles for holding/intaking/subwoofer shot, made target-space entry actually publish
shinthebinn
requested review from
rmaizel,
carahegadorn,
JosephMurdockCoding and
RushaliBetala
March 2, 2024 00:32
…arentee no stray settings - 2 follower errors
…, but they are not static (constants)
…sure we don't collide with rev hwc
carahegadorn
approved these changes
Mar 12, 2024
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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...
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