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Misc #51

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485340f
misc
levyishai Aug 25, 2024
78400dd
Everything WORKS and WORKS well (that is, calibrations, camera stuff …
levyishai Oct 6, 2024
2db4fd4
Commit
levyishai Oct 10, 2024
f32f352
update vision stuff
levyishai Oct 10, 2024
6bdcc41
(I really don't this this) commit
levyishai Oct 19, 2024
9c8c0d2
Pose IOS Commit
levyishai Nov 5, 2024
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8 changes: 4 additions & 4 deletions .pathplanner/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,9 @@
"Picture4"
],
"autoFolders": [],
"defaultMaxVel": 3.2,
"defaultMaxAccel": 3.2,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultMaxVel": 2.5,
"defaultMaxAccel": 2.5,
"defaultMaxAngVel": 400.0,
"defaultMaxAngAccel": 400.0,
"maxModuleSpeed": 4.5
}
2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ dependencies {
simulationRelease wpi.sim.enableRelease()

implementation 'com.google.code.gson:gson:2.10.1'
implementation 'com.github.Programming-TRIGON:TRIGONLib:2024.2.4'
implementation 'com.github.Programming-TRIGON:TRIGONLib:6e39012'

def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
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17 changes: 11 additions & 6 deletions simgui-window.json
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,11 @@
}
},
"Table": {
"0x542B5671,2": {
"Column 0 Width": "347",
"Column 1 Width": "204",
"RefScale": "16"
},
"0xE56EC1C2,4": {
"Column 0 Weight": "1.0000",
"Column 1 Weight": "1.0000",
Expand Down Expand Up @@ -71,7 +76,7 @@
"###/SmartDashboard/AutoChooser": {
"Collapsed": "0",
"Pos": "-3,891",
"Size": "307,60"
"Size": "32,38"
},
"###/SmartDashboard/Field": {
"Collapsed": "0",
Expand All @@ -81,12 +86,12 @@
"###FMS": {
"Collapsed": "0",
"Pos": "-1,712",
"Size": "202,214"
"Size": "32,38"
},
"###Joysticks": {
"Collapsed": "0",
"Pos": "320,888",
"Size": "976,278"
"Size": "32,38"
},
"###NetworkTables": {
"Collapsed": "0",
Expand Down Expand Up @@ -116,12 +121,12 @@
"###System Joysticks": {
"Collapsed": "0",
"Pos": "1,346",
"Size": "232,254"
"Size": "32,38"
},
"###Timing": {
"Collapsed": "0",
"Pos": "0,172",
"Size": "169,168"
"Size": "32,38"
},
"Debug##Default": {
"Collapsed": "0",
Expand All @@ -131,7 +136,7 @@
"Robot State": {
"Collapsed": "0",
"Pos": "2,25",
"Size": "109,134"
"Size": "32,38"
}
}
}
296 changes: 296 additions & 0 deletions src/main/deploy/2024-crescendo.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,296 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 15.079471999999997,
"y": 0.24587199999999998,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 16.185134,
"y": 0.883666,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 16.579342,
"y": 4.982717999999999,
"z": 1.4511020000000001
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 16.579342,
"y": 5.547867999999999,
"z": 1.4511020000000001
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 14.700757999999999,
"y": 8.2042,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 1.8415,
"y": 8.2042,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": -0.038099999999999995,
"y": 5.547867999999999,
"z": 1.4511020000000001
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": -0.038099999999999995,
"y": 4.982717999999999,
"z": 1.4511020000000001
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 9,
"pose": {
"translation": {
"x": 0.356108,
"y": 0.883666,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 10,
"pose": {
"translation": {
"x": 1.4615159999999998,
"y": 0.24587199999999998,
"z": 1.355852
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 11,
"pose": {
"translation": {
"x": 11.904726,
"y": 3.7132259999999997,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 12,
"pose": {
"translation": {
"x": 11.904726,
"y": 4.49834,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 13,
"pose": {
"translation": {
"x": 11.220196,
"y": 4.105148,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 14,
"pose": {
"translation": {
"x": 5.320792,
"y": 4.105148,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 15,
"pose": {
"translation": {
"x": 4.641342,
"y": 4.49834,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 16,
"pose": {
"translation": {
"x": 4.641342,
"y": 3.7132259999999997,
"z": 1.3208
},
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
"Y": 0.0,
"Z": 0.8660254037844387
}
}
}
}
],
"field": {
"length": 16.541,
"width": 8.211
}
}
8 changes: 4 additions & 4 deletions src/main/deploy/Pathplanner/paths/Picture2Collect2.path
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Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,10 @@
}
],
"globalConstraints": {
"maxVelocity": 3.2,
"maxAcceleration": 3.2,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
"maxVelocity": 2.5,
"maxAcceleration": 2.5,
"maxAngularVelocity": 400.0,
"maxAngularAcceleration": 400.0
},
"goalEndState": {
"velocity": 0,
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