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16c4eba
Increase voltage warning on battery and add CAN error alert
srimanachanta Jan 29, 2025
f9babf3
clean
srimanachanta Feb 1, 2025
93e655d
Implement Full Logging and Drivetrain Subsystem (#1)
srimanachanta Jan 18, 2025
98c0715
Fix Modules Falsely Reporting as Disconnected
srimanachanta Feb 5, 2025
1cc2430
Cleanup typing, make errors more obvious
srimanachanta Feb 13, 2025
803498a
Cleanup dashboard setting stuff
srimanachanta Feb 13, 2025
15e8caf
Update sim characterization constants to be more accurate, stops a ma…
srimanachanta Feb 13, 2025
37cd26f
Log drive motor temps
srimanachanta Feb 13, 2025
1b089c2
Merge branch 'main' into sriman-dev
srimanachanta Feb 13, 2025
addcdce
Formatting fixes
srimanachanta Feb 13, 2025
f7606cf
Inline tuning mode alert
srimanachanta Feb 13, 2025
9325f68
Misc drive fixes (#6)
srimanachanta Feb 13, 2025
e5c4843
Merge branch 'main' into sriman-dev
srimanachanta Feb 13, 2025
876046f
Rename RobotState to PoseEstimator
srimanachanta Feb 13, 2025
2ae942f
Refactor abstract alerts into util class to later roll into LEDs
srimanachanta Feb 13, 2025
2af259b
Update Phoenix6 to 2025.2.2
srimanachanta Feb 13, 2025
b2626e8
Refactor code structure to not over-expose subsystem specific stuff
srimanachanta Feb 13, 2025
2952998
Shorten name for drive temp
srimanachanta Feb 15, 2025
5b6968a
Fix red alliance drive commands bug
srimanachanta Feb 13, 2025
420fa3d
Update WPILIB to 2025.3.1
srimanachanta Feb 16, 2025
3be2661
Update stuff (#7)
srimanachanta Feb 16, 2025
2a1068c
Merge branch 'main' into sriman-dev
srimanachanta Feb 16, 2025
de577e5
fix akit version mismatch
srimanachanta Feb 20, 2025
68e75f9
Add intake subsystem
srimanachanta Feb 20, 2025
ca2f600
Update robot constants to match bot
srimanachanta Feb 22, 2025
6adf211
Fix DT bug
srimanachanta Feb 22, 2025
e8fbd80
Update Intake
srimanachanta Feb 22, 2025
4343534
explicitly set motor temp signals
srimanachanta Feb 22, 2025
96f6eae
dont make conversion factors variables
srimanachanta Feb 22, 2025
fb12507
Update FieldConstants.java
srimanachanta Feb 23, 2025
ba6e299
Update EqualsUtil.java
srimanachanta Feb 24, 2025
1baa58d
Add updatable debouncer
srimanachanta Feb 24, 2025
bd348ee
Make sim models non static
srimanachanta Feb 24, 2025
19e3976
Implement DispenserIO
srimanachanta Feb 24, 2025
ba09067
Implement ElevatorIO
srimanachanta Feb 24, 2025
9f9de79
Update IO
srimanachanta Feb 25, 2025
ee57f87
WIP
srimanachanta Feb 26, 2025
07083ba
fixes
Talon540-root Feb 26, 2025
d267a5f
add elevator and end effector subsystems
srimanachanta Feb 26, 2025
d1f8beb
add sprint
srimanachanta Feb 26, 2025
1d3b191
add proto auto intake
srimanachanta Feb 26, 2025
e7fadb7
schedule home command if not homed on teleop init
srimanachanta Feb 26, 2025
6cfc8e3
Update LoggedTunableNumber.java
srimanachanta Feb 26, 2025
b32b9fc
Update RobotContainer.java
srimanachanta Feb 26, 2025
2e7b277
Create ElevatorVisualizer.java
srimanachanta Feb 26, 2025
1b9467e
Merge branch 'sriman-dev' of https://github.com/Talon540Programming/R…
Talon540-root Feb 26, 2025
32aca1e
tuning stuff
Talon540-root Feb 27, 2025
a6ac1fe
fix merge
srimanachanta Feb 28, 2025
eda4d4b
Fix characterization DT bug
srimanachanta Feb 28, 2025
24e9f2b
Auto hone elevator on start
srimanachanta Feb 28, 2025
e9c1694
idk if this matters
srimanachanta Feb 28, 2025
de0014c
Make slow mode toggleable and cleanup changes from Thursday
srimanachanta Feb 28, 2025
f17c272
Make intake toggleable
srimanachanta Feb 28, 2025
3d7c324
stop elevator from honing on gyro reset
srimanachanta Feb 28, 2025
5b7bf78
Rename holdingCoral to better match lombok
srimanachanta Feb 28, 2025
fd13f3f
update dispenser eject to be faster
srimanachanta Feb 28, 2025
773704f
add reserialize command
srimanachanta Feb 28, 2025
60ebba7
remove intake timeout
srimanachanta Mar 2, 2025
26c56be
add taxi auto
srimanachanta Mar 2, 2025
c8e1dbb
make eject configurable based on level
srimanachanta Mar 2, 2025
db57af5
add wait period to checking intake when enabling immediately after el…
srimanachanta Mar 2, 2025
2391b50
Add robot relative override
srimanachanta Mar 3, 2025
5e8c5a0
added unit conversion and promptly commented it back out
Talon540-root Mar 4, 2025
813d3df
add algae mode
srimanachanta Mar 4, 2025
f47b2de
stuff for ayush to fix
srimanachanta Mar 5, 2025
8072903
update vendor deps
srimanachanta Mar 5, 2025
72df17d
Update tunable number API to avoid redundant resets and call correct …
srimanachanta Mar 5, 2025
553d51a
Reimplement I term into SparkMax PID Controllers
srimanachanta Mar 5, 2025
4d279ab
drivetrain rewrite based on 6328, including DriveCommands rewrite
Talon540-root Mar 5, 2025
65d1032
added vision done
Talon540-root Mar 5, 2025
10ccfad
update vendor dependencies
Bluewaves54 Mar 5, 2025
1992682
added ascope assets and camera positions
Bluewaves54 Mar 5, 2025
ca42c4c
added unit conversion and promptly commented it back out
Talon540-root Mar 4, 2025
31d3106
drivetrain rewrite based on 6328, including DriveCommands rewrite
Talon540-root Mar 5, 2025
1452125
added vision done
Talon540-root Mar 5, 2025
b0a0c43
added ascope assets and camera positions
Bluewaves54 Mar 5, 2025
0ca86ab
reverted drivetrain to before drivetrain rewrite
Bluewaves54 Mar 5, 2025
e61a696
Merge branch 'vision-dev-blacksburg' of https://github.com/Talon540Pr…
Bluewaves54 Mar 5, 2025
9443dde
replaced drivetrain rewrite with main drivetrain
Bluewaves54 Mar 5, 2025
3da3477
fixed vision sim bugs
Bluewaves54 Mar 6, 2025
0ed910c
implemented reef face detection and apriltag distance logging
Talon540-root Mar 6, 2025
1c3fb77
drivetopose WIP (squash later)
Talon540-root Mar 7, 2025
bea410a
fixed drive to pose bugs, added TODOs for tuning numbers
Bluewaves54 Mar 7, 2025
385f75d
fixes for PID
Talon540-root Mar 8, 2025
59e987e
Revert "Reimplement I term into SparkMax PID Controllers"
srimanachanta Mar 8, 2025
d8436ab
proto drive I term and IZone
srimanachanta Mar 9, 2025
d9fc982
Semi-final PID Coefficients
srimanachanta Mar 9, 2025
bb4f2dd
Merge branch 'sriman-dev' into vision-dev-blacksburg
Talon540-root Mar 9, 2025
edb2dd7
Merge branch 'sriman-dev' into vision-dev-blacksburg
Talon540-root Mar 9, 2025
bc8610b
added VirtualVM support in build.gradle
Talon540-root Mar 9, 2025
4dfd9a4
added autonomous support and a simple routine
Talon540-root Mar 10, 2025
35f46e9
Merge branch 'main' into vision-dev-blacksburg
Talon540-root Mar 13, 2025
634cd55
fixes
Talon540-root Mar 13, 2025
f1b2031
formatting fixes
Talon540-root Mar 13, 2025
49089dd
added back autos
Talon540-root Mar 16, 2025
2bf5186
2 L4 auto
Talon540-root Mar 17, 2025
3904e9b
uncommented intake command in L4 auto
Talon540-root Mar 17, 2025
b405f96
changed trajectory constraints in choreo
Talon540-root Mar 18, 2025
1f26696
changes for review
Bluewaves54 Mar 19, 2025
345fefc
removing auto for vision PR; added to new branch auto-dev
Bluewaves54 Mar 19, 2025
5c46ed7
Small Cleanup
srimanachanta Mar 19, 2025
8bf28bc
Update Constants.java
srimanachanta Mar 20, 2025
6a1c242
Update RobotContainer.java
srimanachanta Mar 20, 2025
c997fdd
Fix vision IO
srimanachanta Mar 20, 2025
9a3d84a
match naming
srimanachanta Mar 20, 2025
67f0b55
Update DriveBase.java
srimanachanta Mar 20, 2025
0ec70ee
Refactor vision subsystem
srimanachanta Mar 20, 2025
ff363e8
Formatting fixes
srimanachanta Mar 20, 2025
89e84a0
Re privatize drive constants
srimanachanta Mar 20, 2025
3c6aedd
Update RobotContainer.java
srimanachanta Mar 20, 2025
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120 changes: 120 additions & 0 deletions ascope_assets/Robot_REEFSCAPE2025/config.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,120 @@
{
"name": "Talon540 Reefscape 2025 Robot",
"rotations": [
{
"axis": "x",
"degrees": 90
},
{
"axis": "z",
"degrees": 90
}
],
"positions": [
0,
0,
0
],
"cameras": [
{
"name": "frontright",
"fov": 70,
"resolution": [
1280,
800
],
"position": [
0.206,
-0.272,
0.221
],
"rotations": [
{
"axis": "x",
"degrees": 0
},
{
"axis": "y",
"degrees": -20
},
{
"axis": "z",
"degrees": 35
}
]
},
{
"name": "frontleft",
"fov": 70,
"resolution": [
1280,
800
],
"position": [
0.206,
0.272,
0.221
],
"rotations": [
{
"axis": "x",
"degrees": 0
},
{
"axis": "y",
"degrees": -20
},
{
"axis": "z",
"degrees": -35
}
]
},
{
"name": "elevator",
"fov": 70,
"resolution": [
1280,
800
],
"position": [
0.05,
0,
0.783
],
"rotations": [
{
"axis": "x",
"degrees": 0
},
{
"axis": "y",
"degrees": -40
},
{
"axis": "z",
"degrees": 180
}
]
}
],
"components": [
{
"zeroedRotations": [
{
"axis": "x",
"degrees": 90
},
{
"axis": "z",
"degrees": 90
}
],
"zeroedPosition": [
0,
0,
0
]
}
]
}
Binary file added ascope_assets/Robot_REEFSCAPE2025/model.glb
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Binary file added ascope_assets/Robot_REEFSCAPE2025/model_0.glb
Binary file not shown.
6 changes: 6 additions & 0 deletions build.gradle
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@ deploy {
jvmArgs.add("-XX:GCTimeRatio=5")
jvmArgs.add("-XX:+UseSerialGC")
jvmArgs.add("-XX:MaxGCPauseMillis=50")
// jvmArgs.add("-Dcom.sun.management.jmxremote=true")
// jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
// jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
// jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
// jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
// jvmArgs.add("-Djava.rmi.server.hostname=10.5.40.2")

// The options below may improve performance, but should only be enabled on the RIO 2
final MAX_JAVA_HEAP_SIZE_MB = 100;
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