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base-swerve
Advanced Swerve Code for FRC
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12/14 testing plan
#38
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phlogiston1
opened
10 months ago
phlogiston1
commented
10 months ago
SET UP FIELD AREA FOR TESTING:
3 planar apriltags under blackboards
tape mark at 0,0, and other misc. points on the field
zone in midfield for pathplanner avoidance, marked w tape
robot waypoint boxes for test paths
THINGS TO TEST/MAKE IN CODE
limelight odometry & telemetry
setup offsets in limelight
Code to find apriltag positions from known field points (will make issue for this)
Rough stdevs for estimation
Debug vision issues and get LL telemetry working
Improve wheel odometry w more accurate wheel radius fudging (will make issue to make code for this)
3d odometry (maybe - not priority)
Retune if weight added
tune angle pids
tune linear pids
retune drive mode constants - mainly rate limiters and position correction iters
phlogiston1
commented
10 months ago
didn't happen, moving to whenever we meet next
SET UP FIELD AREA FOR TESTING:
THINGS TO TEST/MAKE IN CODE