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Note detection fieldrelative #8

Merged
merged 33 commits into from
Feb 10, 2024
Merged

Note detection fieldrelative #8

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f7f50cb
Port note vision from retep nr/note-detection
BenG49 Jan 19, 2024
ac7eb66
Make note aligned drive command
BenG49 Jan 19, 2024
974ad00
Merge branch 'main' into note-detection
naowalrahman Jan 19, 2024
0f44220
Revert "Merge branch 'main' into note-detection"
naowalrahman Jan 19, 2024
55bbf8b
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
naowalrahman Jan 19, 2024
f051cbf
deadbanding alignment + filters
naowalrahman Jan 19, 2024
297de20
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
BenG49 Jan 20, 2024
b90d1f2
Port note vision from retep nr/note-detection
BenG49 Jan 19, 2024
e2c5058
Make note aligned drive command
BenG49 Jan 19, 2024
7bc79b6
Revert "Merge branch 'main' into note-detection"
naowalrahman Jan 19, 2024
1c749b6
deadbanding alignment + filters
naowalrahman Jan 19, 2024
c7355c5
Merge branch 'note-detection' of github.com:StuyPulse/Johnathan into …
BenG49 Jan 20, 2024
41fbff1
Merge main into note-detection
BenG49 Jan 20, 2024
c203dd3
Merge main into note-detection
BenG49 Jan 20, 2024
b67a08b
Remove random Settings.NoteAlignment
BenG49 Jan 20, 2024
47eb764
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
BenG49 Jan 20, 2024
dfe6a04
Note detection code
BenG49 Jan 20, 2024
50e72c3
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
BenG49 Jan 20, 2024
09da6ea
Make note translation field relative (unfinished)
BenG49 Jan 23, 2024
07fbacf
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
BenG49 Jan 23, 2024
3319c79
Fix note field relative positioning
BenG49 Jan 23, 2024
09a7000
remove turn stream from note aligned drive, add center to intake fron…
naowalrahman Jan 27, 2024
749c6e2
Merge branch 'main' of github.com:StuyPulse/Johnathan into note-detec…
BenG49 Feb 2, 2024
50e306c
Update method name
anivanchen Feb 3, 2024
3e45880
Add note detectionn test auto
anivanchen Feb 3, 2024
39b22f2
Add DriveToAutoStart
anivanchen Feb 3, 2024
a657d18
Add NaN and large value check to odometry
anivanchen Feb 3, 2024
e084504
Use distance to determine isFinished
anivanchen Feb 3, 2024
5149ad5
Tune values
anivanchen Feb 3, 2024
a1db47f
Run other side autons
anivanchen Feb 7, 2024
18270a2
add SwerveDriveDriveToChain for test
Keobkeig Feb 10, 2024
34f6f8a
Fix swervedrive to chain
BenG49 Feb 10, 2024
a2379df
Merge branch 'main' into note-detection-fieldrelative
BenG49 Feb 10, 2024
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4 changes: 2 additions & 2 deletions .pathplanner/settings.json
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Expand Up @@ -7,8 +7,8 @@
"HFE"
],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxVel": 2.0,
"defaultMaxAccel": 4.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"maxModuleSpeed": 4.5
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43 changes: 43 additions & 0 deletions src/main/deploy/pathplanner/autos/Note Detection Test.auto
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@@ -0,0 +1,43 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3033866247492334,
"y": 6.814737809886499
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intake acquire"
}
},
{
"type": "path",
"data": {
"pathName": "Note Detection Path"
}
},
{
"type": "named",
"data": {
"name": "drive to note"
}
},
{
"type": "named",
"data": {
"name": "intake stop"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/B To A (ABC).path
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/C To B (ABC).path
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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14 changes: 7 additions & 7 deletions src/main/deploy/pathplanner/paths/E To Shoot (HFE).path
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Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 3.976354741378645,
"y": 5.106639879824356
"x": 3.4613550257373955,
"y": 5.349605268437967
},
"prevControl": {
"x": 5.288791546143204,
"y": 4.49370079566982
"x": 4.746249330823314,
"y": 4.380929158993735
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.5,
"maxAcceleration": 9.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -45,5 +45,5 @@
"reversed": false,
"folder": "HFE",
"previewStartingState": null,
"useDefaultConstraints": false
"useDefaultConstraints": true
}
20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/F To Shoot (HFE).path
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Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 7.929545854615797,
"x": 8.12,
"y": 2.432016158384531
},
"prevControl": null,
"nextControl": {
"x": 6.995066434251791,
"x": 7.185520579635994,
"y": 3.4562610112362155
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.8814838652626524,
"y": 4.827042510937235
"x": 3.4,
"y": 5.21
},
"prevControl": {
"x": 4.259643243410917,
"y": 4.815422774902082
"x": 4.524927668353058,
"y": 4.997546496479711
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,18 +32,18 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.5,
"maxAcceleration": 9.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0.0,
"rotation": -13.0,
"rotation": -7.742166844819546,
"rotateFast": false
},
"reversed": false,
"folder": "HFE",
"previewStartingState": null,
"useDefaultConstraints": false
"useDefaultConstraints": true
}
18 changes: 9 additions & 9 deletions src/main/deploy/pathplanner/paths/FShoot To E (HFE).path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 3.8814838652626524,
"y": 4.827042510937235
"x": 3.4,
"y": 5.21
},
"prevControl": null,
"nextControl": {
"x": 5.639808720888058,
"y": 4.489969784247294
"x": 4.787004771012038,
"y": 4.42620908196786
},
"isLocked": false,
"linkedName": null
Expand All @@ -20,8 +20,8 @@
"y": 4.097291348201403
},
"prevControl": {
"x": 6.460969663475785,
"y": 4.359129446883026
"x": 6.165251635651925,
"y": 4.174203465458797
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.5,
"maxAcceleration": 9.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -45,5 +45,5 @@
"reversed": false,
"folder": "HFE",
"previewStartingState": null,
"useDefaultConstraints": false
"useDefaultConstraints": true
}
22 changes: 11 additions & 11 deletions src/main/deploy/pathplanner/paths/H To Shoot (HFE).path
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Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 7.940567464034234,
"y": 0.7841651445745021
"x": 8.12,
"y": 0.91
},
"prevControl": null,
"nextControl": {
"x": 5.970951958009818,
"y": 1.1314614999083628
"x": 6.09651200885518,
"y": 1.3734386164887789
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.932248020664661,
"y": 3.0409052404747614
"x": 2.5372885306588757,
"y": 3.23
},
"prevControl": {
"x": 4.464336906902614,
"y": 1.7553300211016838
"x": 4.555375655754567,
"y": 1.9908154535276095
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.5,
"maxAcceleration": 9.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -45,5 +45,5 @@
"reversed": false,
"folder": "HFE",
"previewStartingState": null,
"useDefaultConstraints": false
"useDefaultConstraints": true
}
20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/HShoot To F (HFE).path
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Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 2.932248020664661,
"y": 3.0409052404747614
"x": 2.54,
"y": 3.23
},
"prevControl": null,
"nextControl": {
"x": 5.429728048854969,
"y": 1.1066294807828339
"x": 5.3948334681608605,
"y": 1.3399464381665318
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.929545854615797,
"x": 8.12,
"y": 2.432016158384531
},
"prevControl": {
"x": 7.178392770949869,
"y": 2.432016158384531
"x": 6.386539843490928,
"y": 1.755946563650941
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.5,
"maxAcceleration": 9.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -45,5 +45,5 @@
"reversed": false,
"folder": "HFE",
"previewStartingState": null,
"useDefaultConstraints": false
"useDefaultConstraints": true
}
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/paths/Note Detection Path.path
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@@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.3033866247492334,
"y": 6.814737809886499
},
"prevControl": null,
"nextControl": {
"x": 2.421420613499129,
"y": 6.814737809886499
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.9788388950331144,
"y": 5.384346760266148
},
"prevControl": {
"x": 3.3859563993722896,
"y": 6.314936615260962
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 1.0,
"rotation": -40.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": null,
"useDefaultConstraints": false
}
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/Start To C (ABC).path
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Expand Up @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand Down
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