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Operation-P-E-A-C-C-E-Robotics / base-swerve

Advanced Swerve Code for FRC
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12/14 testing plan #38

Open phlogiston1 opened 10 months ago

phlogiston1 commented 10 months ago

SET UP FIELD AREA FOR TESTING:

  1. 3 planar apriltags under blackboards
  2. tape mark at 0,0, and other misc. points on the field
  3. zone in midfield for pathplanner avoidance, marked w tape
  4. robot waypoint boxes for test paths

THINGS TO TEST/MAKE IN CODE

  1. limelight odometry & telemetry
    1. setup offsets in limelight
    2. Code to find apriltag positions from known field points (will make issue for this)
    3. Rough stdevs for estimation
    4. Debug vision issues and get LL telemetry working
  2. Improve wheel odometry w more accurate wheel radius fudging (will make issue to make code for this)
  3. 3d odometry (maybe - not priority)
  4. Retune if weight added
    1. tune angle pids
    2. tune linear pids
    3. 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