L1 autoalign #106
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L1 autoalign #106
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Needs testing on-bot. There was some weird behavior with the driver-controlled movement while autoaligning in Glass, which I think has to do with the way my keyboard registers keystrokes. |
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Lyssia-Seiden
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Apr 8, 2025
spellingcat
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Aug 30, 2025
* Tune l4 * reenable auto release * L1 autoalign (#106) * Add target lines * Initial testing, nonworking * Make it mostly work * Allow driver to move along the line * L1 tuning at loom * Algae autos fr (#113) * added new auto command for circling the reef * added steps for auto command * updated auto path and scoring in auto command * updated auto command, scoring in auto, and intake in auto * updated auto commands * reintroduce handedness * add adjustable speed for different scoring levels * updated auto commands * changed runpath to use start/middle/end locations instead, turned off module force ff in sim * why did i do that * make autoaim start with velocity when that axis is towards the goal * i don't even know anymore * add starting locations * added starting paths and stuff * 4.5 L Outside * 4.5 L Outside completed * added autos 4.5 L Outside and 4.5 R Outside * added autos 4.5 L Outside and 4.5 R Outside * added autos 4.5 L Outside and 4.5 R Outside * score preload autos. also i messed up the command sequence lol * regenerate all choreo paths * fix demo cycle * added li to k, not done yet (need to pull petro changes) * respond to feedback * regen paths with correct torque and a few other fixes * feedback * change force ff back to its own thing * make outtake use volts * loom testing, things are not working! * remove dead autos, rename test * adjust test paths, regen all paths * remove removed auto from robot.java * run scoreinauto tests * make test routine use routines * adjust indexing to not spit when reenabled * lm to h works * move debug auto to LM to H * adjust choreo moi this time for sure * adjust alpha swerve tuning and choreo settings * reenable module force ff * bound elevator extension, upped i for autoaim * adjust command bindings in auto, regen auto trajs * adjust score in auto * started making auto use superstructure(??) * auto works in sim * improved autos in sim * make chooser work when disabled, extend elevator a bit later * premature optimization was the root of all evil * updated auto commands by adding run path to simplify trajectory code * added all 4.5 inner and outer routines * added bind elevator extension to autos * premature optimization was the root of all evil part 2 * standardize naming * added the push auto and updated run path command * finish merge * started adding algae auto commands * add algae reef locations * delete new path * started adding booleans for algae and scoring/intaking algae in auto commands * updating autos to include algae commands and intake/outake (still in progress) * whar * changed some algae intake logic, need to fix elevator extension binding to work for algae intake * please don't be terrible * move scoring and intaking to actually be in sequence * actually check algae * adjust coral g and h and add cmtog traj * more tuning --------- Co-authored-by: vivi-o <vivie@oesterer.com> Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: petropapahadjopoulos <anotherguywithabeanie@gmail.com> * steepen barge shot angle again * reintroduce toss, use vel threshold * add algae intaking to graph * tune accel/vel constraints, extend elevator earlier * increase accel * turn off current limits in auto * adjust hp shoulder pos * speed up ground intake * slow down barge shot * adjust shoulder pose for ground algae * more barge tuning * add algae ground to graph * adjust coral hold pose, add more edges for l4 to algae intake cancelling * adjust graph * make net autoalign use angle * reduce manipulator stator limit * increase autoain kd * adjust ground algae * tune coral hold pos and pid * jog coral back during scoring * make auto algae logic actually make sense 😭 * add barge intermediate + change angle * algae auto stuff that doesn't really work yet * more algae auto tuning, BARGE SHOT IS FUCKED * yet more barge tuning, auto was overcooked * Add rezero button binding * zero shoulder correctly * Reduce jog distance on l4 * Spotless * Add a dumb anti-coral jam binding * Tune ground algae intake * move algae intake into its own method, add preliminary rest of path * cancoder retuning * tuning again * redo wrist zero at start of auto * yayyy * works except for last intake * change idle shoulder position * copy over stuff from other branch * made path less aggressive * welp i tried * pov plane :plane: * swap beambreaks * increase auto score debounce time * adjust jog pose for l2/3 extension * adjust jog pose more * adjust coral pose zeroing after ground logic * adjust l1 jog pose * adjust l4 wrist * add alert for vision data coming from ✨the future✨ * log statuscodes * Update at 'Thu Apr 17 14:03:11 PDT 2025' * add anti algae jam * increase anti algae jam height * log current targets * fix algae extension pathing positions * add explicit l3 state * adjust wrist zeroing * reverse wrist zeroing direction * Update at 'Fri Apr 18 09:11:14 PDT 2025' * Update at 'Fri Apr 18 09:16:25 PDT 2025' * Update at 'Fri Apr 18 09:20:29 PDT 2025' * Revert "Update at 'Fri Apr 18 09:20:29 PDT 2025'" This reverts commit f4734f3. * Revert "Update at 'Fri Apr 18 09:16:25 PDT 2025'" This reverts commit a16bf35. * Revert "Update at 'Fri Apr 18 09:11:14 PDT 2025'" This reverts commit ba071a9. * Revert "reverse wrist zeroing direction" This reverts commit 4d81bad. * make intake algae high use untucked path * ground algae tuning Update at 'Fri Apr 18 09:42:30 PDT 2025' Update at 'Fri Apr 18 09:42:43 PDT 2025' Update at 'Fri Apr 18 09:45:01 PDT 2025' Update at 'Fri Apr 18 09:46:56 PDT 2025' Update at 'Fri Apr 18 09:48:37 PDT 2025' * try reducing barge angle * slight delay after intaking + revert barge change * sike * fmt * add delay to center auto * Update at 'Sat Apr 19 06:28:41 PDT 2025' * adjust stack height * wait less in algae auto --------- Co-authored-by: SCool62 <samthecool300@icloud.com> Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: SCool62 <79726681+SCool62@users.noreply.github.com> Co-authored-by: vivi-o <vivie@oesterer.com> Co-authored-by: petropapahadjopoulos <anotherguywithabeanie@gmail.com>
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