Odometry fix maybe. check it#32
Conversation
…ks the robot is huge. this fixes robotstate kinematics.
… information from too many sources. wheel based odometry should only go to getState().Pose from CTRE. fixed the RobotConfig(0,0,null) and added negative yaw because pigeon2 is CW-Positive, and WPILib expects CCW-positive.
… sized all arrays to m_limeLights.length instead of empty {}, changed the averaging divisor to validCount (cameras that actually reported) instead of total camera count, and fixed the highest-confidence selector logic which was comparing an index to a confidence value.
Jack0wack0
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works on my machine
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We disabled limelight intententionally for our testing.
…On Wed, Mar 18, 2026, 5:51 PM Jack0wack0 ***@***.***> wrote:
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You can view, comment on, or merge this pull request online at:
#32
Commit Summary
- cd25f89
<cd25f89>
temp odometry fix, must require testing
- 729917f
<729917f>
fixing current limits
- b27bdb7
<b27bdb7>
use kmaxangularspeed instead of kmaxspeed
- 0e368f1
<0e368f1>
fix #1, trackwidth expects meters, not inches. 2d rotation thinks the robot
is huge. this fixes robotstate kinematics.
- 79f669c
<79f669c>
removed unused imports
- f64b3d9
<f64b3d9>
removed import, removed m_poseEstimator. pathplanner is getting false
information from too many sources. wheel based odometry should only go to
getState().Pose from CTRE. fixed the RobotConfig(0,0,null) and added
negative yaw because pigeon2 is CW-Positive, and WPILib expects
CCW-positive.
- 0074cdd
<0074cdd>
Four bugs fixed: initialized m_limeLightNames with new ArrayList<>(), sized
all arrays to m_limeLights.length instead of empty {}, changed the
averaging divisor to validCount (cameras that actually reported) instead of
total camera count, and fixed the highest-confidence selector logic which
was comparing an index to a confidence value.
- e3ddf09
<e3ddf09>
claude vision fix
File Changes
(5 files <https://github.com/KKAY99/5454/pull/32/files>)
- *M*
2026/5454-2026-GameBot-Imported/src/main/java/frc/robot/Constants.java
<https://github.com/KKAY99/5454/pull/32/files#diff-fc8194a5310b8ccc72f73fed42d35ea32107c4142cab5ca8ee8a14f82d87132f>
(5)
- *M*
2026/5454-2026-GameBot-Imported/src/main/java/frc/robot/RobotContainer.java
<https://github.com/KKAY99/5454/pull/32/files#diff-e04298b17b1b7aed7d6e289281a867db96dcb59a1cbdfc58ab031c2f93451225>
(69)
- *M*
2026/5454-2026-GameBot-Imported/src/main/java/frc/robot/TunerConstants.java
<https://github.com/KKAY99/5454/pull/32/files#diff-6fa2e0f1ed389ba8a99ea0bcf422ffbfbc912943b8108bf357e0dacc62c240e4>
(17)
- *M*
2026/5454-2026-GameBot-Imported/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
<https://github.com/KKAY99/5454/pull/32/files#diff-18a1a6bd775cb5299547f9b3ad26cdab9863af24f5c2066fd995cd93cbf68076>
(63)
- *M*
2026/5454-2026-GameBot-Imported/src/main/java/frc/robot/utilities/LimelightManager.java
<https://github.com/KKAY99/5454/pull/32/files#diff-47159e8af8362d4c1e66e8aa4edd7dd1fd2e2fe62c95e056641cfedc3d29688a>
(34)
Patch Links:
- https://github.com/KKAY99/5454/pull/32.patch
- https://github.com/KKAY99/5454/pull/32.diff
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should probably re-enable? I can comment it out. |
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