Code

Dev drivetrain#13

Code

Merged

mattperls-code merged 16 commits intodevRoboLancers/321-Crescendo-2024:devfrom dev-drivetrainRoboLancers/321-Crescendo-2024:dev-drivetrainCopy head branch name to clipboardFeb 17, 2024

+1,620-193

Commits

Commits on Jan 23, 2024

• initial drivetrain implementation. includes swerve teleop control and static path following

  mattperls-code

  committed
  2b8650a

Commits on Jan 31, 2024

• working changes for tuning the new chassis

  mattperls-code

  committed
  f027017

Commits on Feb 2, 2024

• i love jason yang yay

  mattperls-code

  committed
  557ab0f

Commits on Feb 3, 2024

• refactored drivetrain. turn controller is now onboard, moved commands into subsystem to match stylistic design of other subsystems, changed some names and modifiers. this needs to be retested

  mattperls-code

  committed
  53117dc

• made adjustments for new bot and debugged new onboard control

  mattperls-code

  committed
  c4b10f9

• tuned path following

  mattperls-code

  committed
  c04741f

Commits on Feb 8, 2024

• added working changes to test vision on the opi, implements multi tag localization to odometry. TODO: error matrix to make kalman filter more effective

  mattperls-code

  committed
  649780f

• added more pipeline details for result accuracy

  mattperls-code

  committed
  91017fa

Commits on Feb 9, 2024

• vision implementation, TODO: fix stuff for single tag pose estimation

  mattperls-code

  committed
  f4351c3

• new inversions and offsets

  mattperls-code

  committed
  7524a07

Commits on Feb 10, 2024

• replace manual pose math with PhotonPoseEstimator

  Vncero

  committed
  d7e01c3

Commits on Feb 12, 2024

• successfully tested fusing vision into odometry and generating paths to a hard-coded field-relative pose on the fly

  Vncero

  committed
  48eca2c

• tuned turn controller for path following

  mattperls-code

  committed
  ff080c1

Commits on Feb 14, 2024

• added robot relative note pose calculation, not perfect due to camera intrinsics but works for small yaw

  mattperls-code

  committed
  37bfac5

Commits on Feb 17, 2024

• merging drive and mating

  mattperls-code

  committed
  155ee25

• spotless (damn it raf)

  mattperls-code

  committed
  cedd9f1