Dot product #52
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* make bring up note match other notes formatting * add conservative current limits to everything for bring up * add climber current limit * reduce elevator motion magic speed * check off items * add shoulder cancoder offset - seeing some slightly off values so there might be a bug lurking * set up wrist gear ratio and init, verify with ascope * check off items * make led use ledid constant * make rollerio refresh inputs * add swerve offsets * disable mechs, verify HOME state * mess with wrist zeroing: probably still some bugs lurking but its good enough for now * tune wrist pidf * tune shoulder * adjust elevator homing, tuning * adjust ground algae location, roller enable * fix algae intaking * adjust processor * adjust algae and coral tuning * fix some state transitions and adjust funnel * adjust algae current threshold * fill out checkboxes * slow down wrist for barge scoring * split processor and net scoring states * adjust led logic * add check algae state * adjust check algae state * adjust l4 color * force idle state if coral isnt there in ready coral * adjust index command for coral * additional empty manipulator checks for prepare states * l4 scoring works!!!1!!1!!!1!! * fix L4 robot self-collision * adjust reef scoring clearances * re-add algae intaking and anti jam bindings (they got nuked???????) * add extend with clearance command * make funnel spin backwards in anti-jam * make state triggers check for robot enable * make manipulator coral indexing skip early steps if no piece, make IDLE->READY_CORAL check first beambreak not second * make home not exit until request ends * fix l3 extension, extend with clearance hold * adjust barge scoring and algae intaking * fix algae intake not running on first press * make reef algae intake use clearance, adjust tuning * make algae reef intaking cook * fix net autoaim * adjust controller buzzing, lower manip current limit * add current control to rollers * tune reef coral placing * add reef cancelling, funnel reverse button * trust gyro more for pose est * add front camera calibration * run spotless * make CHECK_ALGAE hold elevator position and wait until not near reef * add mechanism pose viz for shoulder zeroing pose * fix arm zeroing * adjust funnel voltage * made algae intake on ground retract after intake * adjusted algae intake from the reef to start further back * adjusted shoulder retraction from intaking algae off the reef * tuned PID in kelpie swerve constants * tuned PID in kelpie swerve constants and auto aim acceleration * disable autoalign stopping on moving away (it was borked :( ) * fix atuoalign using vel instead of pos * make funnel only run when close to hp station * add funnel spin override * increase wrist current filter timescale * make manipulator use position hold on pre coral score * Fix l1 manipulator scoring * Make l1 scoring work * Update LED constants * reset manipulator position only on beambreak trip in right config * make net scoring YEET algae * regenerated choreo trajs with proper constants * make score in auto use autoalign, check for velocity before scoring * improved scoring and intaking in auto to wait and get the correct pose * Home in auto and reset auto score reqs on enable * Make vision distance falloff larger, change weight of module force FFs, and disable force FFs while decelerating * regen choreo trajs w 0.5Nm torque * Adjusted vision trust and made scoreInAuto take a pose to score on * make intake in auto push into wall * add configurable tolerance for autoalign check, tighten tolerance in auto (its too tight now so its slow :( ) * increase translation tolerance in auto * speed up funnel + adjust offset (might be wrong?) * made net extension parallel * fix manipulator extending when algae gets knocked out * adjust purple color * reduce swerve current limits * make ready algae use clearance * import cam constants, reduce z error threshold * adjust reef algae intake autoalign, vision * add heading reset * run spotless * run format * fix heading reset + barge autoaim * log more gyro stuff, fix algae autoalign * i was silly * filter ambigugous single target estimates, adjust auto traj * make PLO slam into station more * reduce accel, adjust delay after scoring for general state machine and auto * update camera calibrations * run spotless * adjust choreo max torque, module tracking * gc tuning and more tracing * add commented out visualvm jvm settings * only run recordOutput in non-real modes * fix sim vs real io init when in replay, activate replay * updated auto pose ro to match lo * updating auto paths so they don't scrape the reef * make algae intake autoaim run in idle * make coral autoaling look ahead 0.3s * reduce algae autoalign speed * reduce drive current limit * renamble gyro return status logging, reduce async odo rate * make alga eintake autoalign wait for elevator * revert drive current limit reduction * hopefully fix auto path population * make push auto use autoalign to finish traj * make push auto use autoalign to finish traj * run spotless * make algae intake autoalign roobot relative * check shoulder when intaking algae from reef * make push auto timeout pushing * prep climber for testing * run spotless * tune climb * more funnel release tuning * adjust l1, servo latch pos * Update at 'Thu Feb 27 13:53:18 PST 2025' * Update at 'Thu Feb 27 13:53:26 PST 2025' * Update at 'Thu Feb 27 14:09:55 PST 2025' * make operator able to start climb * make net toss slower * fix Rotation2d being created with 0,0 on robot rel force of 0 * run format * whack harder * add climber zero button to dashboard * :clown: * Update at 'Thu Feb 27 17:32:24 PST 2025' * Update at 'Thu Feb 27 17:35:14 PST 2025' * the clowning continues :clown: * add more clearance on EtoPRO * run fmt * trust back cameras less * disable back cameras --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: SCool62 <samthecool300@icloud.com> Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com>
#67) * Allow state transitions directly from reef scoring to reef algae intaking * Rewrite with less repitition
update vendordeps
* Allow READY_CORAL state in sim * Rotate targets correctly * Offset target pose * Add cage auto aim * Requested changes * add CageTargets.java * More requested changes * Stop tracking .factorypath * run spotless * run format in build? --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com>
* make bring up note match other notes formatting * add conservative current limits to everything for bring up * add climber current limit * reduce elevator motion magic speed * check off items * add shoulder cancoder offset - seeing some slightly off values so there might be a bug lurking * set up wrist gear ratio and init, verify with ascope * check off items * make led use ledid constant * make rollerio refresh inputs * add swerve offsets * disable mechs, verify HOME state * mess with wrist zeroing: probably still some bugs lurking but its good enough for now * tune wrist pidf * tune shoulder * adjust elevator homing, tuning * adjust ground algae location, roller enable * fix algae intaking * adjust processor * adjust algae and coral tuning * fix some state transitions and adjust funnel * adjust algae current threshold * fill out checkboxes * slow down wrist for barge scoring * split processor and net scoring states * adjust led logic * add check algae state * adjust check algae state * adjust l4 color * force idle state if coral isnt there in ready coral * adjust index command for coral * additional empty manipulator checks for prepare states * l4 scoring works!!!1!!1!!!1!! * fix L4 robot self-collision * adjust reef scoring clearances * re-add algae intaking and anti jam bindings (they got nuked???????) * add extend with clearance command * make funnel spin backwards in anti-jam * make state triggers check for robot enable * make manipulator coral indexing skip early steps if no piece, make IDLE->READY_CORAL check first beambreak not second * make home not exit until request ends * fix l3 extension, extend with clearance hold * adjust barge scoring and algae intaking * fix algae intake not running on first press * make reef algae intake use clearance, adjust tuning * make algae reef intaking cook * fix net autoaim * adjust controller buzzing, lower manip current limit * add current control to rollers * tune reef coral placing * add reef cancelling, funnel reverse button * trust gyro more for pose est * add front camera calibration * run spotless * make CHECK_ALGAE hold elevator position and wait until not near reef * add mechanism pose viz for shoulder zeroing pose * fix arm zeroing * adjust funnel voltage * made algae intake on ground retract after intake * adjusted algae intake from the reef to start further back * adjusted shoulder retraction from intaking algae off the reef * tuned PID in kelpie swerve constants * tuned PID in kelpie swerve constants and auto aim acceleration * disable autoalign stopping on moving away (it was borked :( ) * fix atuoalign using vel instead of pos * make funnel only run when close to hp station * add funnel spin override * increase wrist current filter timescale * make manipulator use position hold on pre coral score * Fix l1 manipulator scoring * Make l1 scoring work * Update LED constants * reset manipulator position only on beambreak trip in right config * make net scoring YEET algae * regenerated choreo trajs with proper constants * make score in auto use autoalign, check for velocity before scoring * improved scoring and intaking in auto to wait and get the correct pose * Home in auto and reset auto score reqs on enable * Make vision distance falloff larger, change weight of module force FFs, and disable force FFs while decelerating * regen choreo trajs w 0.5Nm torque * Adjusted vision trust and made scoreInAuto take a pose to score on * make intake in auto push into wall * add configurable tolerance for autoalign check, tighten tolerance in auto (its too tight now so its slow :( ) * increase translation tolerance in auto * speed up funnel + adjust offset (might be wrong?) * made net extension parallel * fix manipulator extending when algae gets knocked out * adjust purple color * reduce swerve current limits * make ready algae use clearance * import cam constants, reduce z error threshold * adjust reef algae intake autoalign, vision * add heading reset * run spotless * run format * fix heading reset + barge autoaim * log more gyro stuff, fix algae autoalign * i was silly * filter ambigugous single target estimates, adjust auto traj * make PLO slam into station more * reduce accel, adjust delay after scoring for general state machine and auto * update camera calibrations * run spotless * adjust choreo max torque, module tracking * gc tuning and more tracing * add commented out visualvm jvm settings * only run recordOutput in non-real modes * fix sim vs real io init when in replay, activate replay * updated auto pose ro to match lo * updating auto paths so they don't scrape the reef * make algae intake autoaim run in idle * make coral autoaling look ahead 0.3s * reduce algae autoalign speed * reduce drive current limit * renamble gyro return status logging, reduce async odo rate * make alga eintake autoalign wait for elevator * revert drive current limit reduction * hopefully fix auto path population * make push auto use autoalign to finish traj * make push auto use autoalign to finish traj * run spotless * make algae intake autoalign roobot relative * check shoulder when intaking algae from reef * make push auto timeout pushing * prep climber for testing * run spotless * tune climb * more funnel release tuning * adjust l1, servo latch pos * Update at 'Thu Feb 27 13:53:18 PST 2025' * Update at 'Thu Feb 27 13:53:26 PST 2025' * Update at 'Thu Feb 27 14:09:55 PST 2025' * make operator able to start climb * make net toss slower * fix Rotation2d being created with 0,0 on robot rel force of 0 * run format * whack harder * add climber zero button to dashboard * :clown: * Update at 'Thu Feb 27 17:32:24 PST 2025' * Update at 'Thu Feb 27 17:35:14 PST 2025' * the clowning continues :clown: * add more clearance on EtoPRO * run fmt * trust back cameras less * disable back cameras * initialize canivore before mechanisms * run spotless * fix logging canivore status --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: SCool62 <samthecool300@icloud.com> Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com>
Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com>
* Tune climb * run spotless --------- Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com>
Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* made it so algae intake automatically goes high or low depending on the closest target * pr review feedback * run spotless --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com>
* made it so algae intake automatically goes high or low depending on the closest target * pr review feedback * make tracer log in REAL --------- Co-authored-by: vivi-o <vivie@oesterer.com> Co-authored-by: Lewis-Seiden <lewy@seiden.us>
…ction (#82) Co-authored-by: Lewis-Seiden <lewy@seiden.us>
…84) Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* adjust elevator to use motionmagicexpotorque * add sysid for elevator * remove elevator 0 on config * add current sysid * test sysid in sim * run spotless --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* add initial gyro failure post mortem writeup * add reporting failure to process failures section * additional info in not using sheet bulletpoint * run spotless --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us>
Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* add new front camera constants * adjust back camera angles --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* don't wait for elevator to retract to go to idle * feedback
* add pre sfr bring up checklist * add stuff i forgor 💀 --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us>
* add pre sfr bring up checklist * add stuff i forgor 💀 * turn off elevator pidf for initial tuning * turn elevator gear ratio from "insane" to "ludicrous" * initial elevator retuning, static friction is :( * run sysid again w 5:1 * tested various gains, sticking w sysid voltage for now * turn elevator current limits back off * new camera offsets frfr --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us>
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