Swerveonly #13
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Swerveonly #13
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Swerve offsets should now be set on the CANCoders using Phoenix Tuner X. Setting them using the encoder configurator also resets other encoder settings such as output range (which needs to be 0 to 1 for our code)
Co-authored-by: ProgrammingSR <[email protected]>
* feat: Faster Periodic Loop * fix: correct period in PID calculations * comments and docs --------- Co-authored-by: ProgrammingSR <[email protected]> Co-authored-by: Anay Nagar <[email protected]>
* Added LimelightHelper.java * Added LimeLight MegaTag2 data to pose estimates * Moved LimelightHelpers.java to a utils folder * Updated LimelightHelper, added CamPose, deleted VisionSubsystem * Fixed odometry * Small constants updates --------- Co-authored-by: ProgrammingSR <[email protected]>
* feat: elevator * feat: d-pad bindings * minor fixes * temporarily disabled elevator subsystem * minor fixes again
* feat: check if limelight is connected. * fix: limelight name --------- Co-authored-by: Anay Nagar <[email protected]>
* Change motors in DriveSubsystem to Spark Flexes * Oakestra Constants
* feat: acceleration limits Custom SlewRateLimiter (based off of WPILib SlewRateLimiter) which allows for changing rates. Implemented in DriveSubsystem for translation and rotation speeds. * fix: converts robot relative speeds to field relative early This prevents jerks from acceleration slew rate limiting when switching driving mode as the previous value stored in the filter would be from a different driving mode. * docs/comments * Move desaturation of wheel speeds out of fast periodic * So the next guy doesnt think hes going insane --------- Co-authored-by: Anay Nagar <[email protected]>
* WIP: auto aligns to the nearest reef scoring position when A is pressed * Command end bug fix * Check to see if at position for at least 5 ticks, feedforwards for DriveToPose * cancels driveToPose when button released * changed pid to profiledpid * fully working auto align to nearest reef position * Additional safety check (currently left bumper) --------- Co-authored-by: SR1899 <[email protected]> Co-authored-by: Programming SR <[email protected]> Co-authored-by: mebrahimaleem <[email protected]>
feat: unit tests
fix: changed pivot to absolute encoder
feat: algae interlocks
* fix: elevator command uses discrete current limits * feat: aggressive pivots * feat: deadlined based intake/outtake * feat: semi-automatic boundary lockup hint * feat: smart pivot bound to button * fix: bad clamp values * wip * fix: pivot clamp bug * fix: aggressive bug * refactor: enabled CANrange sensor * refactor: changed to median sensor * wip: interlocks tuning * feat: sensor offset * chore: finished tuning * fix: PivotCommand --------- Co-authored-by: ProgrammingSR <[email protected]>
* fix: elevator interruption behavior * feat: setpoints
* sammy commit 1 elevator optimizations and vision things and basic auton * scoring setpoints refactor * constants changes * One red and one blue auton, just paths using DriveToPose * final sammamish commit --------- Co-authored-by: ProgrammingSR <[email protected]>
* fix: allow setting angle to non zero on reset * refactor: removed unused imports * refactor: button bindings * Elevator faster --------- Co-authored-by: ProgrammingSR <[email protected]>
* Haptics on intake and elevator reaching setpoint * Reduce haptic time * Add haptics on intake to operator controller and change haptic time
* trust * stemnasium testing * fix: DriveToPose not working in sim * Updated limelight pose * Barge flip command * clean up commands * vision clean up * Small change to flip on red side * Moved haptic values to constants and added default overload * theoretically fully valid interlocks * Move LL updates to separate method * Custom LL crop window and interlocks tuning --------- Co-authored-by: ProgrammingSR <[email protected]>
* feat: autobuilder * Right side Autonomous pathplanners (not completed) * left autons * 3,2,1 Coral Auton * feat: auton commands * wip raise elevator autons * feat: solution 4 for accessing subsystems * refactor: swapped dummy contructor with static method * Auto pre testing * feat: Left 2 Coral auton * speling si hadr * Middle 1 Coral and Right 2 Coral autons * adjusted auton scoring positions * tuning * Add method of reversing coral if intookened too far * pathplanner is incredible * auton tuning * formatting --------- Co-authored-by: ProgrammingSR <[email protected]> Co-authored-by: Anay Nagar <[email protected]> Co-authored-by: Anay Nagar <[email protected]>
Added default value for m_intakeState
* Intake tweaks and rename * Rename pivot output
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