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Toucan offseason changes #122
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8d9115f
Initial rotate to speaker tag
KangarooKoala 364cf44
Use 2d processing instead (WIP- Doesn't work!)
KangarooKoala 5b3a052
Change drive controller b to use shuffleboard
kirbt 4f72ddd
Add 2 second timeout to launcher preset controls
kirbt 32ba5c1
Adjust drivebase shuffleboard defaults and make them not persistent
kirbt de67fef
Add Centerline N4 auto
kirbt ed7b783
Spotless
kirbt e34f0ed
Fix pathplanner auto name
kirbt 550ab23
Mark Centerline N4 as vision
kirbt aa3885a
Adjust camera transform roll (we changed the physical orientation)
kirbt c721fc4
Change default drivebase rotation speed
kirbt 3ca9a9d
Don't apply heading correction when telling robot to rotate
kirbt 53d2599
Drive odo values changed
kirbt 8d8a620
Revert "Drive odo values changed"
kirbt 01a2dc9
Check for bad CAN when getting the angle
kirbt 4bf506c
Recalculate conversion factor
kirbt 6488725
Set default launch angle offset to 5
kirbt 29209ea
Wait before stopping pivot
kirbt dc84c38
Ignore IR sensor
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37 changes: 37 additions & 0 deletions
37
src/main/deploy/pathplanner/autos/VisionSourceSide2ScoreN4.auto
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 0.73, | ||
| "y": 4.47 | ||
| }, | ||
| "rotation": 120.0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SubwooferLaunch" | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "LowSpeakerToFarN4ToLaunch" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "VisionLaunch" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": "Vision Autos", | ||
| "choreoAuto": false | ||
| } |
144 changes: 144 additions & 0 deletions
144
src/main/deploy/pathplanner/paths/LowSpeakerToFarN4ToLaunch.path
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,144 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 0.7275269251393202, | ||
| "y": 4.4671669970120575 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 1.146100930190991, | ||
| "y": 3.4001885029736156 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": "LowSpeaker" | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 3.7844624260677096, | ||
| "y": 1.7444754889509784 | ||
| }, | ||
| "prevControl": { | ||
| "x": 2.076817112087623, | ||
| "y": 1.7678637978358573 | ||
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| "nextControl": { | ||
| "x": 4.556702651817908, | ||
| "y": 1.7338987065329259 | ||
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| "isLocked": false, | ||
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| "x": 8.44590590082081, | ||
| "y": 2.4960698570045796 | ||
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| "prevControl": { | ||
| "x": 7.976085063097927, | ||
| "y": 2.378058890871132 | ||
| }, | ||
| "nextControl": { | ||
| "x": 9.030376579271676, | ||
| "y": 2.642878903991426 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
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| "anchor": { | ||
| "x": 5.690191951812475, | ||
| "y": 1.7444754889509784 | ||
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| "prevControl": { | ||
| "x": 7.053385240517052, | ||
| "y": 1.8806304206600526 | ||
| }, | ||
| "nextControl": { | ||
| "x": 4.326998663107897, | ||
| "y": 1.6083205572419041 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 2.9089022069531514, | ||
| "y": 1.9539173222406319 | ||
| }, | ||
| "prevControl": { | ||
| "x": 3.9750353786421866, | ||
| "y": 1.6125403679378794 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": "SourceVisionLaunch" | ||
| } | ||
| ], | ||
| "rotationTargets": [ | ||
| { | ||
| "waypointRelativePos": 0.05, | ||
| "rotationDegrees": 120.0, | ||
| "rotateFast": false | ||
| }, | ||
| { | ||
| "waypointRelativePos": 1.0, | ||
| "rotationDegrees": -171.13373619481098, | ||
| "rotateFast": false | ||
| }, | ||
| { | ||
| "waypointRelativePos": 1.75, | ||
| "rotationDegrees": -167.33444776423735, | ||
| "rotateFast": false | ||
| }, | ||
| { | ||
| "waypointRelativePos": 4.0, | ||
| "rotationDegrees": -164.3286881943862, | ||
| "rotateFast": false | ||
| }, | ||
| { | ||
| "waypointRelativePos": 0.5, | ||
| "rotationDegrees": 159.12457737382582, | ||
| "rotateFast": false | ||
| } | ||
| ], | ||
| "constraintZones": [], | ||
| "eventMarkers": [ | ||
| { | ||
| "name": "intake", | ||
| "waypointRelativePos": 1.35, | ||
| "command": { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Intake" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "globalConstraints": { | ||
| "maxVelocity": 4.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": 120.0, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": 120.0, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": false | ||
| } |
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Floats only have 7 significant digits (plus an exponent) and doubles have 16 decimal digits (plus an exponent) of precision, so this may be overkill.
https://en.wikipedia.org/wiki/Floating-point_arithmetic#IEEE_754:_floating_point_in_modern_computers