Match25 mid autos #72
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added a moving average of the output current of the climber so that if it's below a certain threshold we can be reasonably certain we're on a chain
also, grammar fix
separate averages for left and right motors
calling detectChain() twice is a waste of precious milliseconds. also, calling the motor.set() methods twice if we're on the chain is inefficient
- downUntilChain() is now called downUntilChainCommand() - merged in the soft limit stuff from ClimberStopping - buttons in shuffleboard to change the soft limit
torched everything we were using for pid, it was deprecated and we weren't using it so there's no point keeping it. also changed some javadocs, and intellij tells me it "optimized imports"
commit 228d648 Author: EMiller524 <[email protected]> Date: Sun Apr 7 14:56:32 2024 -0400 Vision rework (#60) * Rework Pt1 Re did filtering Accessible in auto Boolean on Suffleboard * yikes its 430am * Ok here we go Removed outdated filliping Add in auto check for good speaker reading Tweak Std calculation Output more things * Added high SwerveSubsystem verbosity in sim. * AdvantageScope * amppath * Merge branch 'main' into Vision_Rework stuff lol * Logging that "should" work * mega2 * Initial * Update Vision.java * Fix limit switch port * Constants changed * Added reset odometry to zero gyro * AmpPathing Everything is good Except for redAutos: the gyro gets zeroed 180 wrong when a path starts (choreo?? init pose??) * Fix red auto gyro heading (maybe?) and clean up RobotContainer * Added memory data * Run garbage collection if less than 1MB left --------- Co-authored-by: James Mou <[email protected]> commit d8c4a3c Merge: fcad70a 6e928ae Author: EMiller524 <[email protected]> Date: Sat Apr 6 13:54:41 2024 -0400 Merge pull request #58 from pittsfordrobotics/ImplementSysID Implement sysID commit 6e928ae Author: James Mou <[email protected]> Date: Sat Apr 6 13:08:30 2024 -0400 Updated with constants that SysID actually gave us commit ec24c81 Author: James Mou <[email protected]> Date: Fri Apr 5 18:38:41 2024 -0400 Limit switch port changed commit 477bf29 Author: James Mou <[email protected]> Date: Fri Apr 5 17:48:56 2024 -0400 Initial retuning of swerve (need better kA values) commit d4d5641 Author: James Mou <[email protected]> Date: Fri Apr 5 16:32:59 2024 -0400 Getting constants ready to run the angle motor calibration commit 819697a Author: James Mou <[email protected]> Date: Fri Apr 5 16:11:21 2024 -0400 add angle motor routine to run, lower kS to reduce wobble?
also, moved stuff to climberconstants
Will do middle ones later.
…reased max speed when intaking to 0.5 - 0.75 m/s
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