Event bcc#16
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WIP: need to flip correct passing targets based on actual one
TODO: figure out why first run of launch calculator causes such a large spike in latency
Maddox asked me to do this
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Caution Review failedThe pull request is closed. ℹ️ Recent review info⚙️ Run configurationConfiguration used: defaults Review profile: CHILL Plan: Pro Run ID: 📒 Files selected for processing (60)
📝 WalkthroughWalkthroughThis PR adds a new RollerSubsystem with hardware abstractions and commands, introduces new PathPlanner autonomous routines and trajectory paths for "BestEver" and "DepotStartNeutralClimbRaceToMiddle2nd" sequences, refactors launcher command groups to compose new dynamic aiming and shooting behaviors, implements field zone utilities via PoseZone, updates numerous subsystem constants for tuning, and refactors RobotContainer with data collection telemetry and control logic adjustments. Changes
Sequence Diagram(s)sequenceDiagram
participant Operator
participant RobotContainer
participant LauncherTargetHubDynamicAndShoot as LauncherTargetHubDynamicAndShoot<br/>(ParallelCommandGroup)
participant LauncherTargetHubDynamic as LauncherTargetHubDynamic<br/>(ParallelCommandGroup)
participant LauncherShoot as LauncherShoot<br/>(SequentialCommandGroup)
participant Shooter as ShooterSubsystem
participant Belt as BeltSubsystem
participant Roller as RollerSubsystem
participant Kicker as KickerSubsystem
Operator->>RobotContainer: Command LauncherTargetHubDynamicAndShoot
RobotContainer->>LauncherTargetHubDynamicAndShoot: execute()
par Parallel Execution
LauncherTargetHubDynamicAndShoot->>LauncherTargetHubDynamic: run parallel aiming
par Aiming Phase
LauncherTargetHubDynamic->>Shooter: runShooterAtVelocity(calc)
LauncherTargetHubDynamic->>Shooter: turret follow angle
end
LauncherTargetHubDynamicAndShoot->>LauncherShoot: run feeding sequence
LauncherShoot->>Shooter: waitUntil isAtTargetVelocity()
Shooter-->>LauncherShoot: at target velocity
par Parallel Feeding
LauncherShoot->>Belt: run at LOAD_INTO_SHOOTER_VELOCITY
LauncherShoot->>Roller: run open loop (JOSTLE)
LauncherShoot->>Kicker: run at LOAD_INTO_SHOOTER_VELOCITY
end
end
LauncherTargetHubDynamicAndShoot-->>Operator: sequence complete
Estimated code review effort🎯 3 (Moderate) | ⏱️ ~25 minutes Possibly related PRs
Poem
✨ Finishing Touches📝 Generate docstrings
🧪 Generate unit tests (beta)
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Summary by CodeRabbit
New Features
Enhancements
Configuration