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DevilBotz2876 / ChargedUp2023

Code for the FRC 2023 Robotics Competition
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Photon Vision Integration & Drive to target #90

Open ParkerMeyers opened 1 year ago

ParkerMeyers commented 1 year ago

Photon Vision Integration & Drive to target

ParkerMeyers commented 1 year ago

Closes #36

ParkerMeyers commented 1 year ago

Hi Parker,

Please put the sysId changes in a separate PR. Also, before merging this to main, we need to verify that it actually works on the robot, so if we have time @wpi tomorrow, we can test this from this branch. Just make sure it is updated against main.

Already tested at BHS, but we should also try it at wpi

BrownGenius commented 1 year ago

Already tested at BHS, but we should also try it at wpi

How did you test it? Did you check the autonomous path planner routine with photon vision enabled?

ParkerMeyers commented 1 year ago

Already tested at BHS, but we should also try it at wpi

How did you test it? Did you check the autonomous path planner routine with photon vision enabled?

Yes, we mounted the camera and wired everything. The path generation worked flawlessly, and the following was not bad. we just need to mount the weights in the correct location so it turns better.

ParkerMeyers commented 1 year ago

whoops, meant to hide, not delete that

BrownGenius commented 1 year ago

I'll need to see why reviewdog formatted the suggestion the way it did, but spotlessApply just wanted to move the location of the import to be in alpha order.

ParkerMeyers commented 1 year ago

I'll need to see why reviewdog formatted the suggestion the way it did, but spotlessApply just wanted to move the location of the import to be in alpha order.

Ah alright, that makes sense

ParkerMeyers commented 1 year ago

Hi @ParkerMeyers, I ran a simulation with the photonVision code, and am confused as to why there are two robots shown on the screen: image

I also noticed that, I am not sure why, It works fine in real life. Apparently according to some of the members from yesterday its been messed up for a while

ParkerMeyers commented 1 year ago

Nevermind. I found the problem. When you run autonomous, it resets the position of the robot, but not of the "actual Pose". I temporarly removed the "actual Pose" to fix this "

ParkerMeyers commented 1 year ago

one of the visulized robots is from the differentialDriveSim but the other is from the pose estimator