In preparation for the WPI test run on Thursday, I cleaned up the Mobility, Dock, and Engage code that @rohit18-cool and @joshuman have been working on the past few days. To match the existing autonomous routines, I moved the code to be inline in RobotContainer instead of a separate class.
FYI: Currently, it is only coded for starting on the "blue human" side of the field. At the competition, we need to test this specific routine and see how the balance PID works. Then we need to see what happens if we start from the "red human" side. Ideally, the path planner should translate automatically for the red side, but it doesn't seem to work in simulation, so we will need to better understand what is happening. Worst case, we can generate 4 separate paths manually in path planner and then select red vs blue programmatically at runtime...and then add a shuffle board option for 'human' vs 'wall' side as the starting point.
In preparation for the WPI test run on Thursday, I cleaned up the Mobility, Dock, and Engage code that @rohit18-cool and @joshuman have been working on the past few days. To match the existing autonomous routines, I moved the code to be inline in
RobotContainerinstead of a separate class.FYI: Currently, it is only coded for starting on the "blue human" side of the field. At the competition, we need to test this specific routine and see how the balance PID works. Then we need to see what happens if we start from the "red human" side. Ideally, the path planner should translate automatically for the red side, but it doesn't seem to work in simulation, so we will need to better understand what is happening. Worst case, we can generate 4 separate paths manually in path planner and then select red vs blue programmatically at runtime...and then add a shuffle board option for 'human' vs 'wall' side as the starting point.