Grits (#84)

* Added PhotonVision * Added STD DEVS to photonvision * Added camera transforms * SysId Swerve. Fix Swerve Gyro Issue * Photonvision works * Fixed Photonvision * Removed sham cameras * Initial pass at a PV implementation rewrite/refactor. Should work in real and sim, not sure if it works in replay yet, but it should. * Initial pass at note tracking, no functionality yet, just logging detected note poses. * Added note tracking vision IO Inputs * Drive to Maybe Pose Autonomote Note Tracking!! * Drive to Maybe Pose Autonomous Note Tracking!! * better name * Fixed logs being overwritten * auto note track * my computer is too laggy to run so i gotta sim on laptop * stuff * photonvision is disabled. janky note detection auto * getX() replaced with getY() * random translation for note tracking camera * changed note pose calculation * it works :) * Test adding two translations together on real robot. * i wanna make teleop assist * probably not working teleop note lineup assist. * i cooked :( * this kinda sucks :| * Added way to disable PV. Line up to note seems to work. Need to make it assist rotation. * Got note assist during teleop working. Added timestamp check to note tracking camera. * Reordered teleop note align code. * Moved lineup pose into inner optional present scope for autoalign * Tried note tracking auto. Added rumble to both controllers on note pickup. Disabled auto align to note in teleop. * post de * Removed assisted rotation from teleopAssitedLineup * note tracking failures. * allegedly this solves the problems. * added distance offset * workingish note distance * idk why it wont get the flipped one 😭😭😭😭😭😭😭 * extra auto path * Goated changes sim * maybe PV replay? * some auto position reset stuff * seems to work okay. * Removed mega cooked autos. Gave up on note tracking 😭 * READY FOR GRITS DAY 2 * added goated auto v2 * i hate this variable. changed from sim to real. * qual 47 and whatever next is * grits * Added an option for the robot to not intake a note in Sim. Figured out why the robot hit the stage at Grits. It resumed a command that had a waitfor from earlier in the auto. This wasnt a problem earlier in the season since ig no one ever stole our second note. The solution is to add a withTimeout to the Command Group. --------- Co-authored-by: harry.chen <[email protected]>
TechnoTitans · Nov 5, 2024 · cc1642c · cc1642c
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diff --git a/choreo.chor b/choreo.chor
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diff --git a/src/main/deploy/choreo/AltSourceCenter0_1_2.2.traj b/src/main/deploy/choreo/AltSourceCenter0_1_2.2.traj
diff --git a/src/main/deploy/choreo/AltSourceCenter0_1_2.3.traj b/src/main/deploy/choreo/AltSourceCenter0_1_2.3.traj
diff --git a/src/main/deploy/choreo/AltSourceCenter0_1_2.traj b/src/main/deploy/choreo/AltSourceCenter0_1_2.traj
diff --git a/src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.1.traj b/src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.1.traj
diff --git a/src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.2.traj b/src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.2.traj
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