Add tuning-shot mode to tune shots manually #44
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jkleiber
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Oct 19, 2024
* add PhoenixDriveConstants * add drive constants file and PhoenixDrive empty class * add very basic PhoenixDrive example; * fix format * add startSimThread method * add pathplanner method * move drive into separate folder; add DriveWithJoysticks and chassisSpeed methods and commands to be able to drive robot * fix files * add telemetry class * try fixing sim not working * fix sim * move sim loop period to constants and remove print statements * add partially filtered joystick inputs * sim works better now, updated filtering * add sys id routines based on phoenix 6 example * only configure sys id under test mode * add default and break statements to setSysIdRoutine * add button bindings for setting sys id type and log type * move commands folder out of subsystems folder * add auto path example * add basic example auto to test functionality of drive * add align to target command for autos * align to target command will be for teleop; pathplanner override rotation for auto * add named command to align to speaker * switch to using align to target command for auto again * fix all merging issues * use pathplanner override rotation so bot can rotate while moving * fix path flipping to be correct * migrate finding pose and heading to the ALignToTarget Command, add strafing to command, and update commands in RobotContainer to reflect changes * add intake named command that intakes until note is registered then stops * add description to command * fix errors form merge and confirm working * add shoot note named command and isDriveAligned method in drive subsystem * refactor drive to have the alignment logic * pid gains need tuning but FieldCentricFacingAngle swerve request works great * update button bindings for targets and add comand for setting aligning to true * fix formatting from merge * fix applyGoalSpeeds conditional * add alignment check to idle * Update PhotonLib to 2024.3.1 to match beelink on HITL, add HITL camera configuration for zero-offset camera tests, and add logging of camera result latency * Correct front right and front right camera constants * Begin shooter tuning * add pose supplier in initScoring * add configureSuppliers method * unknown changed * add a drive aligned supplier for scoring * mess with gains and fix speaker rotation * work in progress * Add tuning-shot mode to tune shots manually (#44) Co-authored-by: 401-minh <[email protected]> * changes from shop + tune alignmetn gains * add alignment logs for tuning and debugging plus check for align target when setting aligning * autp shop tuning + aimer * adjust aimer map * attempt auto alignment i auto * alignmenet works, able to shoot one note and intake other. arm isnt getting to intake position though. * Move align to driver left joystick trigger to match 2024 comp/A bot * Update amping code to hopefully allow amping. We should either not use this or test it in the pits first. * remove untested paths and autos * add configurable autos + rename auto to accurate name * Add KI back into driveGains --------- Co-authored-by: aidnem <[email protected]> Co-authored-by: 401-minh <[email protected]>
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Merge tuning shot mode into calibrate cameras (current integration branch) to allow for tuning of shot table more easily