richiksc
commented
3 years ago - Update field images
- WIP Paths for AutoNav challenge
- Point and click functionality for cheesy-path
- Code generation and UI updates for cheesy-path
- Use image onload for changing fields
- Performance optimizations and CSV import/export for cheesy-path
- Auto load title from filename
- Rewrite CSV import/export w/ FileSystem Access API and UI refinements for cheesy-path
- [cheesy-path]: Drag and drop waypoints to move them
- cheesy-path: Add dark mode
- fix logutil
- Check in barrel path CSV and update BarrelPath
- Fix rounding bug in cheesy-path
- Update Barrel Run path
- Add shared run configurations
- added SwerveModule and corresponding yaml configs
- this code is the equivalent of a nuclear disaster - don't pull this please
- 42 errors hmmm yes good ( better than before by 26 errors, so I'll take it )
- WIP: More swerve module fixes
- WIP: swerve code compiles now, rotation2d nearestpole and kinematics updates
- WIP - swerve module configuration
- Gutted check error
- [WIP] multiple PID slots and separate PID configs for swerve
- Move azimuthPid and drivePid to subsystem [other subsystems still broken]
- make formatter happy
- recent code
- gutted config sensors
- update alpha yaml to use swerve
- turn off Joystick Warning:) Fix azimuth positional set
- Azimuth position control for swerve module working
- Re-enable drive motors
- Looks like many but most changes were applying spotless
- Spacing error in badlog creation
- Add automatic detection of joystic attached
- WIP: drive controls for swerve drive
- WIP: Add commands for swerve drive
- Changed motor configs to use configAll and removed redundant configs to reduce CAN traffic
- update configs after swerve rebuild added some diagnostic logging fixed offset code
- Switchable swerve drive algorithms
- Cleanup instanceof now that current limit API is common between SRX and FX
- Swerve and trajectories
- comment out PATH_FOLLOWING and put a break in it
- Only badlog on swerve module
- Use proper encPPR in SwerveModuleConstants
- Swerve trajectories WIP
- WPILib update
- Add simulation dependency
- Add run for simulator
- removed jar application run file and replaced with gradle task
- make run task more generic I think it will work on mac
- Add macOS support to gradlew run task and simulation
- Fix NullPointer on mCurrentTrajectory
- Update code to support linux simulator
- Create physics sim
- Encoder simulation swerve module
- removed motorSimProfile
- Update SwerveModule
- latest
- Sim GUI field2d fix
- Looper dt 30ms
- Last moment push
- Add position update from 1323
- Use new observation update for robot position
- stuff
- Actually use the drive vectors
- Fix errors and NPEs
- add zero vector
- Log heading in badlog
- remove unneeded badlogs
- Remove azimuthVelocity log
- Try classic updatePose
- Badlog updateS
- Fix duplicate badlog name
- Swerve module angle reading fix, angle temp hardcode 0
- Lower kLooperDt
- final state 5/5/21
- Swerve trajectories working
- Restore Barrel Path
- Update cheesy-path to match auto-challenge branch
- LedManager rewrite
- Clean up Drive subsystem
- Run formatter
- Further drive cleanup; move odometry variables to PeriodicIO
- Fix pose not reset in DriveTrajectory
- More WIP changes
- Reset odometry variables on resetPose drive
- make drive motion planner not singleton
- comment out former mMotionPlanner statements
- Welp I guess we need two motion planners
- [WIP] Changes from 5/8 - revert barrel, WIP azimuth optimization algorithm
- add swerve constants
- Update yaml for swerve updated systems
- New azimuth optimization algorithm
- Increase maxVel and maxAccel for swerve
- swerve works [mostly]
- Updates to position reset
- Ch-ch-changes
- Lower kP and velocities
- Progress on swerve teleop
- Update Snow Removal Paths
- Stuff
- Fix 2048 edge case for azimuth optimization
- Fixed a couple issues - identified reason for robot spazzing out upon running a third path
- got all paths working by avoiding the use of isReversed altogether. Propably a temporary solution but it's worth a shot. Added SnowRemoval multiple path mode (named Good Snow Removal) and some other useless garbage used for testing that will be gutted tomorrow after a good night's sleep
- getting snow removal to use the collector (no correct heading yet) and snow thrower to collect and shoot (though not in the right place/angle yet)
- Actually limit deceleration and make centripetal acceleration configurable in yaml
- Tune velocity, accel, decel, centripetal accel and fine-tune paths
- WIP heading controller
- Debug swerve headings
- Flip kModulePositions to match swerve drive vectors
- Tentative rotate heading while swerving
- Tentative PID for heading controller
- Take out debug prints
- Experimental teleop kinematics fix [late night math]
- Shooter tuning [PLEASE DEPLOY]
- Add field centric toggle to yaml
- Update CSVs from auto-challenge
- Rename Good Snow Removal to Snow Removal, eliminate bad Snow Removal
- Make yaml field centric toggle work
- Add heading PID to yaml
- Path tuning and updates
- Update cheesy-path from auto-challenge
- Add CSVs for Snow Removal Paths
- Slalom tuning and toggleable field relative through Shuffleboard
- Add snow removal paths pt 1 and 2 as CSV
- Path Tuning GS
- Slalom Path Optimization . . . . . . . big P energy
- Reduce P
- Power Port Mode
- Power Port Tuning
- Hypothetical powerport fix
- Introduced some simulated robot rotation error
- changes after running profiler
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- removed motor calls that have settings in config - moved all "motor" calls after config is set
- Asynchronous configuration of motors (currently only done in drive)
- New Subsystem initAsync api
- Move setOpenLoopRampRate to initAsync
- Initialize all subsystems asynchronously
- reduce thread keep alive
- Asynchronously calculate trajectories
- Snap to previous azimuth demand and not current on no drive vector
- Revert "Asynchronously calculate trajectories"
- Initialize subsystems sequentially