moving shot v1 - Githubissues

1757WestwoodRobotics / 2022-RapidReact

Competition Bot for FRC 2022 Season

MIT License

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moving shot v1 #114

Open lmaxwell24 opened 2 years ago

lmaxwell24 commented 2 years ago

shooting on the move!

[x] test on the actual robot
[x] test on various robot speeds
[ ] account for acceleration? due to SlewRateLimiters we are limiting our maximum accel

lmaxwell24 commented 2 years ago

testing will be difficult without a proper field -- vision requires the proper distance

otherwise a static shot does remain a static shot

lmaxwell24 commented 2 years ago

ded2560 uses chassis kinematics which disregards potential noise coming from limelight feeding into odometry system

this uses solely wheel encoders to determine chassis velocity

lmaxwell24 commented 2 years ago

test on bot -- actions not requiring the turret work

current theory: we do not compensate for the bots relative movement aka it assumes that at the current point the bot is already at the rotation for the turret we want it to be, although this is not the case as there is nothing that fixes the turret even with bot motion