Dev by Nummun14 · Pull Request #35 · Programming-TRIGON/RobotCodeOffSeason2024

Nummun14 · 2024-10-21T16:23:10Z

No description provided.

Nummun14

started review

src/main/java/frc/trigon/robot/constants/CameraConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

src/main/java/frc/trigon/robot/constants/CameraConstants.java

levyishai

Mostly reviewed things that matter for the template

src/main/java/frc/trigon/robot/constants/CameraConstants.java

src/main/java/frc/trigon/robot/constants/FieldConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

src/main/java/frc/trigon/robot/poseestimation/poseestimator/PoseEstimator.java

src/main/java/frc/trigon/robot/subsystems/swerve/SwerveModule.java

vendordeps/photonlib.json

src/main/java/frc/trigon/robot/commands/factories/AutonomousCommands.java

src/main/java/frc/trigon/robot/constants/FieldConstants.java

src/main/java/frc/trigon/robot/constants/RobotConstants.java

src/main/java/frc/trigon/robot/subsystems/swerve/SwerveModule.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraConstants.java

src/main/java/frc/trigon/robot/constants/CameraConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

src/main/java/frc/trigon/robot/poseestimation/poseestimator/PoseEstimator.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

Nummun14

approved

levyishai · 2024-11-25T08:04:32Z

src/main/java/frc/trigon/robot/commands/AlignToNoteCommand.java

        addCommands(
-                getSetCurrentLEDColorCommand().asProxy(),
-                GeneralCommands.getContinuousConditionalCommand(getDriveWhileAligningToNoteCommand(), GeneralCommands.duplicate(CommandConstants.SELF_RELATIVE_DRIVE_COMMAND), this::hasTarget).asProxy(),
+                getSetCurrentLEDColorCommand(),


Why not proxy?

The function I'm calling runs it as a proxy

Okay
Is this fully tested?

levyishai · 2024-11-25T08:05:43Z

src/main/java/frc/trigon/robot/commands/LEDAutoSetupCommand.java


    private Pose2d getCurrentRobotPose() {
-        return RobotContainer.POSE_ESTIMATOR.getCurrentPose();
+        return RobotContainer.POSE_ESTIMATOR.getCurrentEstimatedPose();


this function seems rather useless

It cleans it up

It gives more ambiguity on where the pose is coming from
No need

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraConstants.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagLimelightIO.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagSimulationCameraIO.java

src/main/java/frc/trigon/robot/subsystems/swerve/SwerveModule.java

Strflightmight09 and others added 30 commits September 13, 2024 18:07

Reordered

8eda89f

Fixed?

e0e6be5

Renamed and converted degrees to radians

c413fde

Added javadoc

2ca71c9

Made changing the best target if needed easier

0ed359f

Reordered

8245c2c

Clean

e588f20

Fixed problem

73bb5ba

Reformatted

eea45cd

Updated TRIGONLib

59d92b2

Fixed bug

6fa239f

Removed PhotonPoseEstimator

10655c5

Reordered and renamed

5438a84

Fixed order and extensive logging

e10c5f8

Removed redundant checks

6293822

Added changes from after testing (still more to do though)

7c4e721

Fixed logic problems and updated to new pose estimation method

9daaacb

Removed vars

2d5f521

Reverted to only solvePNP 😢

85e4451

Merge branch 'main' into vision-fixes

1d582fa

pitcher ff

a408d1c

Fixed pitcher (I think) and started shooter stuff

c7f3f3c

Calibrated shooter

9af71d6

Updated pitcher constants. Still needs calibration

b21eb8f

Merge branch 'main' into calibrations

d67aa6b

updated gear ratio

2344e02

pitcher is still overshooting by 2 degrees

871c0f9

added shooter FF

309c178

Completed shooter PID

1295df8

Calibrated AmpAligner

53105c3

Removed LoggedDashboardNumber

d104869

Nummun14 commented Nov 12, 2024

View reviewed changes

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

Nummun14 commented Nov 12, 2024

View reviewed changes

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

Added sim camera properties stuff

fa0fe7c

Nummun14 commented Nov 13, 2024

View reviewed changes

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java Outdated Show resolved Hide resolved

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java Outdated Show resolved Hide resolved

Nummun14 commented Nov 13, 2024

View reviewed changes

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

Nummun14 commented Nov 13, 2024

View reviewed changes

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

Strflightmight09 added 3 commits November 13, 2024 18:01

Minor sim camera clean

f851563

Better camera IO stuffies idk

6238e48

Merge branch 'main' into calibrations

aae3f2c

levyishai requested changes Nov 14, 2024

View reviewed changes

Strflightmight09 added 6 commits November 14, 2024 16:28

Added IO for sim camera

4ec3a0b

Updated TRIGONLib

7580fab

Updated PhotonLib

45f4d0d

Fixed reset auto pose

99afb9b

getLatestPipelineResult returns null

c90e257

Minor cleaning

586dcf2

levyishai requested changes Nov 17, 2024

View reviewed changes

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

src/main/java/frc/trigon/robot/constants/CameraConstants.java Outdated Show resolved Hide resolved

Strflightmight09 and others added 6 commits November 18, 2024 13:44

It still needs debugging...

a7b6d64

Fixed camera rotation logic

5e3fd2d

Renamed

7137725

Cleaned and almost fixed

38685d5

Changed sim logic (still not working)

28b5981

It was the units...

aa36000

Nummun14 commented Nov 22, 2024

View reviewed changes

Minor cleaning stuff

7a52176

Nummun14 commented Nov 24, 2024

View reviewed changes

levyishai requested changes Nov 25, 2024

View reviewed changes

Logic fixes + cleaning for sim cams

b9e9659

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Nummun14 commented Oct 21, 2024

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