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Pose estimation limelight lib #56

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9573191
adapted both example code segments together for pose estimation with …
Aizakkuno Mar 22, 2024
cf6e2fb
Update Drivetrain.java
Aizakkuno Mar 23, 2024
759bc3f
added new field for vision estimate
Aizakkuno Mar 24, 2024
617a542
Merge branch 'develop' of https://github.com/Team7769/2024-Season int…
Aizakkuno Mar 24, 2024
ddf567f
set to main pose estimator
SCPhillips06 Mar 25, 2024
ab51015
added constants
Aizakkuno Mar 25, 2024
37f7722
Merge branch 'pose-estimation-limelight-lib' of https://github.com/Te…
Aizakkuno Mar 25, 2024
57f7f64
new stuff
Aizakkuno Mar 27, 2024
60c89cc
Merge branch 'develop' of https://github.com/Team7769/2024-Season int…
Aizakkuno Apr 1, 2024
4aa4d55
testing changes
Aizakkuno Apr 1, 2024
f8f4c70
estimation working
SCPhillips06 Apr 2, 2024
73be8a7
entered in some points
Aizakkuno Apr 2, 2024
1be75a8
working on correct angle readings
SCPhillips06 Apr 2, 2024
fa2d917
paths
Aizakkuno Apr 2, 2024
29dcee7
Merge branch 'pose-estimation-limelight-lib' of https://github.com/Te…
Aizakkuno Apr 2, 2024
bb89ca4
added gyro to angle
Aizakkuno Apr 2, 2024
6dd2a62
fixed rot aim code
SCPhillips06 Apr 2, 2024
14c95da
aiming and stuff working
SCPhillips06 Apr 2, 2024
7907da6
sick fire animation and shooter tables
SCPhillips06 Apr 2, 2024
4eda2d2
feed and amp aiming
Aizakkuno Apr 2, 2024
3c10f26
Merge branch 'pose-estimation-limelight-lib' of https://github.com/Te…
Aizakkuno Apr 2, 2024
cb92b5f
increased debounce time
SCPhillips06 Apr 2, 2024
561a857
Merge branch 'pose-estimation-limelight-lib' of https://github.com/Te…
SCPhillips06 Apr 2, 2024
dad35c1
feed bind to y
Aizakkuno Apr 2, 2024
9f5fa83
Merge branch 'pose-estimation-limelight-lib' of https://github.com/Te…
Aizakkuno Apr 2, 2024
a7b19af
tuning
SCPhillips06 Apr 3, 2024
64d5749
Merge branch 'develop' of https://github.com/Team7769/2024-Season int…
SCPhillips06 Apr 3, 2024
e6e8ae2
mid c-b-3 tuning
Aizakkuno Apr 3, 2024
40067c1
path fixes
SCPhillips06 Apr 4, 2024
94cff96
states changes
SCPhillips06 Apr 4, 2024
6eca501
States changes
SCPhillips06 Apr 25, 2024
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2 changes: 1 addition & 1 deletion Shuffleboard/shuffleboard.json
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Original file line number Diff line number Diff line change
Expand Up @@ -519,6 +519,6 @@
"x": -8.0,
"y": -8.0,
"width": 1382.0,
"height": 784.0
"height": 736.0
}
}
26 changes: 19 additions & 7 deletions src/main/deploy/pathplanner/autos/Mid C-B-3-4.auto
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Expand Up @@ -2,8 +2,8 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3186789318946823,
"y": 5.567111941824834
"x": 1.27,
"y": 5.53
},
"rotation": 0
},
Expand All @@ -14,31 +14,43 @@
{
"type": "path",
"data": {
"pathName": "MID_C"
"pathName": "Mid C-B-A-3 SUB - Note C"
}
},
{
"type": "path",
"data": {
"pathName": "C_B"
"pathName": "Mid C-B-A-3 SUB - Score C"
}
},
{
"type": "path",
"data": {
"pathName": "B_3"
"pathName": "Mid C-B-A-3 SUB - Note B"
}
},
{
"type": "path",
"data": {
"pathName": "3_MID"
"pathName": "Mid C-B-A-3 SUB - Score B"
}
},
{
"type": "path",
"data": {
"pathName": "MID_4"
"pathName": "Mid C-B-A-3 SUB - Note 3"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Score 3 Yeet"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Note 3"
}
}
]
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67 changes: 67 additions & 0 deletions src/main/deploy/pathplanner/autos/Mid C-B-A-1 SUB.auto
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@@ -0,0 +1,67 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.27,
"y": 5.53
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Note C"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Score C"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Note B"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Score B"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Note A"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-3 SUB - Score A"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-1 SUB - Note 1"
}
},
{
"type": "path",
"data": {
"pathName": "Mid C-B-A-1 SUB - Score 1 Normal"
}
}
]
}
},
"folder": "Mid Autos",
"choreoAuto": false
}
6 changes: 6 additions & 0 deletions src/main/deploy/pathplanner/autos/Top A-1-2-3.auto
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Expand Up @@ -17,6 +17,12 @@
"pathName": "TOP_A"
}
},
{
"type": "path",
"data": {
"pathName": "A_TOP"
}
},
{
"type": "path",
"data": {
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10 changes: 5 additions & 5 deletions src/main/deploy/pathplanner/paths/1_A.path
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Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 8.328810723241988,
"y": 7.37782702384235
"x": 8.284942222836145,
"y": 7.4309552554704394
},
"prevControl": null,
"nextControl": {
"x": 6.908320747662531,
"y": 7.268558564182392
"x": 6.864452247256688,
"y": 7.321686795810481
},
"isLocked": false,
"linkedName": "TOP_A_1_2_3-1"
Expand Down Expand Up @@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 35.44787634349656,
"rotation": 29.24882633654691,
"rotateFast": false
},
"reversed": false,
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20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/2_A.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 8.25,
"y": 5.8
"x": 8.29962790515921,
"y": 5.6539876943796825
},
"prevControl": null,
"nextControl": {
"x": 6.724426116469921,
"y": 6.534646792546081
"x": 6.774054021629132,
"y": 6.388634486925763
},
"isLocked": false,
"linkedName": "TOP_A_1_2_3-2"
},
{
"anchor": {
"x": 2.93935385724081,
"y": 6.990384785778517
"x": 2.9246681749177457,
"y": 6.67
},
"prevControl": {
"x": 5.330836567521922,
"y": 6.862550215827963
"x": 5.316150885198857,
"y": 6.5421654300494465
},
"nextControl": null,
"isLocked": false,
"linkedName": "TOP_A_1_2_3-A"
"linkedName": "TOP_A_1_2_3-A late"
}
],
"rotationTargets": [],
Expand All @@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 30.210305589469193,
"rotation": 26.142109373851337,
"rotateFast": false
},
"reversed": false,
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18 changes: 9 additions & 9 deletions src/main/deploy/pathplanner/paths/3_MID.path
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Expand Up @@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 8.666769963235812,
"y": 4.46444742621149
"x": 8.26051834784571,
"y": 4.323757544312242
},
"prevControl": null,
"nextControl": {
"x": 6.765567110948872,
"y": 3.8697121749832677
"x": 6.556334631055977,
"y": 3.7005132136005674
},
"isLocked": false,
"linkedName": "Mid C-B-3 - Note 3"
},
{
"anchor": {
"x": 2.263812470379861,
"y": 5.771473152964195
"x": 1.8917403433857882,
"y": 5.950035719763017
},
"prevControl": {
"x": 3.8058091143015926,
"y": 5.624616329733555
"x": 3.3816838214933846,
"y": 5.326791389051343
},
"nextControl": null,
"isLocked": false,
"linkedName": "Mid C-B-3 - C Turn"
"linkedName": "Mid C-B-3 - Mid"
}
],
"rotationTargets": [],
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20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/A_1.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 2.93935385724081,
"y": 6.990384785778517
"x": 0.9127296966579629,
"y": 6.623242727701913
},
"prevControl": null,
"nextControl": {
"x": 4.161140321454306,
"y": 7.216123744966993
"x": 2.1345161608714593,
"y": 6.848981686890389
},
"isLocked": false,
"linkedName": "TOP_A_1_2_3-A"
"linkedName": "TOP_A_1_2_3-TOP"
},
{
"anchor": {
"x": 8.328810723241988,
"y": 7.37782702384235
"x": 8.284942222836145,
"y": 7.4309552554704394
},
"prevControl": {
"x": 5.130961637508229,
"y": 7.329136060505501
"x": 5.087093137102387,
"y": 7.38226429213359
},
"nextControl": null,
"isLocked": false,
Expand All @@ -45,7 +45,7 @@
"reversed": false,
"folder": "Top A-1-2-3",
"previewStartingState": {
"rotation": 32.0,
"rotation": 59.85861444792467,
"velocity": 0
},
"useDefaultConstraints": true
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/A_2.path
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Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 8.25,
"y": 5.8
"x": 8.29962790515921,
"y": 5.6539876943796825
},
"prevControl": {
"x": 5.546180666975807,
"y": 7.196524381186367
"x": 5.5958085721350175,
"y": 7.05051207556605
},
"nextControl": null,
"isLocked": false,
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10 changes: 5 additions & 5 deletions src/main/deploy/pathplanner/paths/A_3.path
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Expand Up @@ -3,16 +3,16 @@
"waypoints": [
{
"anchor": {
"x": 2.93935385724081,
"y": 6.990384785778517
"x": 2.9246681749177457,
"y": 6.67
},
"prevControl": null,
"nextControl": {
"x": 3.810565385428992,
"y": 7.138218203628034
"x": 3.7958797031059275,
"y": 6.817833417849517
},
"isLocked": false,
"linkedName": "TOP_A_1_2_3-A"
"linkedName": "TOP_A_1_2_3-A late"
},
{
"anchor": {
Expand Down
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