feat!: Auto alignment#92
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…o being stupid Blame someone other than me pretty please
…oss routines - Chris Reed
… final point, stopping early) - Chris Reed
| DriverStation.silenceJoystickConnectionWarning(true); | ||
| SimulatedArena.getInstance().resetFieldForAuto(); | ||
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I kinda like having it in the periodic since that's a much more obvious reminder. I will grant that it gets annoying, however. Let's leave it here, and then throw a warning if we have the joysticks connected and we're in test mode.
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Maybe make it only fire in console every 30s or smth? Should make it visible but still allow other debug output to be seen and scrolled through. I'll also have all of this send alerts to the dashboard too.
| private Supplier<Translation2d> linearFF = () -> Translation2d.kZero; | ||
| private DoubleSupplier omegaFF = () -> 0.0; | ||
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| private final ProfiledPIDController driveController = |
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I would like to get these PID values moved into constants.
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Maybe consider writing this as a function in the SwerveSubsystem, as I expect that we'll want to use this for lots of different stuff. We also might want to use this for autos as well, in which case we certainly want it in SwerveSubsystem.
…lick for station align
| private Supplier<Translation2d> linearFF = () -> Translation2d.kZero; | ||
| private DoubleSupplier omegaFF = () -> 0.0; | ||
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| private final ProfiledPIDController driveController = |
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| private AprilTags() {} | ||
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| public static List<Integer> reefTags() { |
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what happens when this is null?
| : RED_STATION_TAGS; | ||
| } | ||
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| public static final Transform2d REEF_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kPi); |
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we need an offset to either side, cause the branches aren't perfectly centered.
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@HENRYMARTIN5 control should remain field-centric for the input fusion |
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also the rotation of the desired pose is off |
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also something is funky with field orientation. I'm trying to sus it out it seems to be present in main as well I think we maybe need to invert drive input values? |
| private final SwerveSubsystem drive; | ||
| private final Supplier<Pose2d> pose; | ||
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| private Supplier<Translation2d> linearFF = () -> Translation2d.kZero; |
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idk if FeedForward is quite the right name here
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