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* better falcon class wrapper * formatting * neutral mode implementation * limit switch implementation * the start * full arm states for 3 joints * buttons! * logging of rotation states * begin cartesian coord interpolation * in da lab * manual mode override control * cancoder stuff * constants tuning * sim updates * renaming * use encoder values for actual positioning of the arm * helper functions for positioning * 3d logging poses * new constants * profiled pid * formatting * optional smoothing (testing only) * minor spelling mistake * updated arm config * more logging, constants changed, function fixes * epsilon extra allow possible arm configs * interpolate in end effector space * better state logging * account for v4bar caused by chain * formatting * clamp angles based on realistic positions * ground intake position * endstops toggle, I like how this looks for smoothness more * darn you formatting * fix reset to account for local --> 4bar * simfalcon pylint fix * arm center of mass logging * feed forwads based on COM distance * log FFs * formatting fun stuff * make more methods that don't need direct access private * surpress warnings on simfalcon * oops guess mega find and replace got something more * better mid position * update mechanism2d positions * account for robotpy update * use correct ratios * tolerence at position * tweaks * somewhat scuffed joint interpolation option * no encoders * cartesian default * constant tweaks, tolerence * proper gearing, clamping better * single substation * better interpolation * demo state for the pits * better constants for testing * lights * debug fix * lab constants * more logging of actual motor values * don't clamp on reset state -- should be resting at position to begin with * over compensation * ground safe position * raw positions * autos * current limiting * top safe position * motor neutral state * lab constants changes * controls updates lab * default cartesian * wrist care for <-180 deg * achievable stored position * end-effector-constrained poses * arm fudge factor * button binding changes * ground cone intake state * encoder initialization * ground intake safe spot * wrist changes * lets not do that again * startup position and stored are different * more accurate COMs * theorhetical arm adjustments * add a bit of waiting for top setting * AutoBalance on charge station command (probably not that good) * auto balance with pid loop totally done by myself im so smart no help needed(im lying) * auto balance fixed, maybe * pitch change * lab changes * formatting * tweaks for landon * constants from lab * tweaks from merge * arm adjust * make the driver happy proper defense state * driv * more ds logging * commit * const changes * reset on reset * angle align * move double substation position out a bit * vision tweaks * light slight change * oi tweaks * slight increase current limit * update atTarget * lab stuff * more lab tweaks * turbo fix * walpole changes * tweaking positions based on adjustments * driving tweaks * auto tweaks and balance adjust * lights but with PWM port * rewrite angle align * Revert "lights but with PWM port" This reverts commit 2636af7. * luke seems to be the only one who knows how to work on the robot code * comp day 1 * comp day 2 * oscilation * increase sensitivity * auton tweaks * mid score tweak * button to coast * start using a bit of vision data * vision system rewrite * 1153 fixes 2 * practice day wpi * wpi day 1 * changes wpi day 1 4:45 * Borrow auto balance algorithm from 6328 * 2 piece * Revert "Borrow auto balance algorithm from 6328" This reverts commit 290c0cf. * angle gyro fix * 2 piece again * better ground intake * necmp2 day 1 * 2 piece works * necmp final * seperate double sub cube and cone position * put the current limits back! * encoder start back * pre-cmp changes * all new calibrations * small warning suppression, remove vision * better light anims * transfer to set in stone angles for startup hardcoded * auto enhancements * override is an arm "freeze" button * new intake who dis * falcon motor switch * lab changes positions * intake current limit * arm cube score position adjustment * arm tweaks * lab position tweaks + cube flange mode * drive gearing change * bugfix atTarget * modify auto * cone double sub flange * top score position cone * put fudge on other driver * at position and auto tweaks * get pose script * ground cone tip intake position * auton changes * formatting * run checks on latest windows --------- Co-authored-by: loopylefty <[email protected]> Co-authored-by: Jacob Kaplan <[email protected]> Co-authored-by: Christopher Aloisio <[email protected]>
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