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still need to write commands for it though
…traight to a position or incrementing it
danielbrownmsm
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Mar 28, 2023
* code for new intake with wrist (#58) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * feat/field-oriented-scoring (#62) * field oreinted scoring written, builds, untested * field-oriented scoring tested, works * left and right bumpers for pickup positions so we can pickup on both sides of the robot * fix arm offset * Feat/wrist intake (#63) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * wrote commands to move the wrist to a certain position, either just straight to a position or incrementing it * bind some of the wrist commands we need * wrist tilt encoder on shuffleboard * clean up the intake commands and add some more OKC_CALL stuff * add an offset to the tilt encoder * fix intake parameters * more okc checks * fix intake wrist tilt encoder port * log the intake tilt output, setpoint, and sensor reading * field-oriented intake tilting commands * wrap the tilt encoder because the zero-point is in a really annoying spot and fix the setpoints * log the intake wrist values, and show them on shuffleboard, * if arm is close to 0 and trying to go to 0 then prevent it from oscillating * added wrist setpoint to shuffleboard * made intake faster * started work on a command to pause auton execution for the arm * wrist setpoint on shuffleboard * fix extend thresholds/setpoints because we replaced the gearboxes * intake wrist tilt tuning and fixing * code no workey tilt then move claw arm thingy * fix arm setpoint, fix some intake setpoints, make the intake a little slower, make either the arm or intake move first depending on the context to avoid breaking the robot, among other things * don't have the intake tilt to a 0 position inside the robot because with a game piece that would break something * fix that last commit * log
danielbrownmsm
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Apr 4, 2023
* code for new intake with wrist (#58) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * feat/field-oriented-scoring (#62) * field oreinted scoring written, builds, untested * field-oriented scoring tested, works * left and right bumpers for pickup positions so we can pickup on both sides of the robot * fix arm offset * Feat/wrist intake (#63) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * wrote commands to move the wrist to a certain position, either just straight to a position or incrementing it * bind some of the wrist commands we need * wrist tilt encoder on shuffleboard * clean up the intake commands and add some more OKC_CALL stuff * add an offset to the tilt encoder * fix intake parameters * more okc checks * fix intake wrist tilt encoder port * log the intake tilt output, setpoint, and sensor reading * field-oriented intake tilting commands * wrap the tilt encoder because the zero-point is in a really annoying spot and fix the setpoints * log the intake wrist values, and show them on shuffleboard, * if arm is close to 0 and trying to go to 0 then prevent it from oscillating * added wrist setpoint to shuffleboard * made intake faster * started work on a command to pause auton execution for the arm * wrist setpoint on shuffleboard * fix extend thresholds/setpoints because we replaced the gearboxes * intake wrist tilt tuning and fixing * code no workey tilt then move claw arm thingy * Improved and Tuned Arm and Added ff to arm control * fix PR comments --------- Co-authored-by: Daniel <56051347+danielbrownmsm@users.noreply.github.com> Co-authored-by: danielbrownmsm <daniel.brown@msmrockets.org>
danielbrownmsm
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Apr 8, 2023
* code for new intake with wrist (#58) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * feat/field-oriented-scoring (#62) * field oreinted scoring written, builds, untested * field-oriented scoring tested, works * left and right bumpers for pickup positions so we can pickup on both sides of the robot * fix arm offset * Feat/wrist intake (#63) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * wrote commands to move the wrist to a certain position, either just straight to a position or incrementing it * bind some of the wrist commands we need * wrist tilt encoder on shuffleboard * clean up the intake commands and add some more OKC_CALL stuff * add an offset to the tilt encoder * fix intake parameters * more okc checks * fix intake wrist tilt encoder port * log the intake tilt output, setpoint, and sensor reading * field-oriented intake tilting commands * wrap the tilt encoder because the zero-point is in a really annoying spot and fix the setpoints * log the intake wrist values, and show them on shuffleboard, * if arm is close to 0 and trying to go to 0 then prevent it from oscillating * reset gyro command bound to A-button * added wrist setpoint to shuffleboard * made intake faster * started work on a command to pause auton execution for the arm * wrist setpoint on shuffleboard * fix extend thresholds/setpoints because we replaced the gearboxes * intake wrist tilt tuning and fixing * code no workey tilt then move claw arm thingy * Improved and Tuned Arm and Added ff to arm control * fix arm setpoint, fix some intake setpoints, make the intake a little slower, make either the arm or intake move first depending on the context to avoid breaking the robot, among other things * don't have the intake tilt to a 0 position inside the robot because with a game piece that would break something * fix that last commit * log * make rhe a button have field-oriented human player station presets (the tilted station, not the one with the door) and of course tune some more septoints * start work on a python arm vizualization script * made log-processing script only display the graphs if it's being run as the main program (ie not just being imported) * expanded the arm-viz script so now we can actually visualize the arm tilt * add drawing the arm setpoint to the arm-viz script also add in extend, although I want to have a rect move out of the base instead of just having one huge line that extends on its own, although this will work for now * fixed auton making the wrist go the wrong way * raised intake power * don't build unit tests at competition for faster deploy times * fix setpoints * raise intake power, lower driving speed * fix all the autos to use intake position * current limiting for intake * invert drive stick because it's going the wrong way * parameter tuning * palm the cube instead of intake it (we can't pick up cones from the ground anymore though, not without ADDING ANOTHER STUPID BUTTON which would probably be the d-pad but that didn't work out so well at shawnee so anyways * actually use the length setpoint instead of moving both with the encoder reading in the arm-viz script * auto-balance tuning, invert strafing too, don't break our tilt at the start of auto if we start down * practice match logs * competition logs I love life so much I want to go and outlive all the other teams and laugh on their graves * honeslty not sure what I changed, don't care, also removed a bunch of stuff because new intake YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYAAAAAAAAAAAAAAAAAAYYYYY * added manual control for arm back in * added shuffleboard control buttons for arm mode * added falses to return commands for arm * enable test procedures * fix comment * remove logs to google drive --------- Co-authored-by: deadlyvortex <deadlyvortex944@hotmail.com> Co-authored-by: okcroboticsteam <okcroboticsteam@gmail.com>
danielbrownmsm
added a commit
that referenced
this pull request
Apr 8, 2023
* code for new intake with wrist (#58) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * feat/field-oriented-scoring (#62) * field oreinted scoring written, builds, untested * field-oriented scoring tested, works * left and right bumpers for pickup positions so we can pickup on both sides of the robot * fix arm offset * Feat/wrist intake (#63) * code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * wrote commands to move the wrist to a certain position, either just straight to a position or incrementing it * bind some of the wrist commands we need * wrist tilt encoder on shuffleboard * clean up the intake commands and add some more OKC_CALL stuff * add an offset to the tilt encoder * fix intake parameters * more okc checks * fix intake wrist tilt encoder port * log the intake tilt output, setpoint, and sensor reading * field-oriented intake tilting commands * wrap the tilt encoder because the zero-point is in a really annoying spot and fix the setpoints * log the intake wrist values, and show them on shuffleboard, * if arm is close to 0 and trying to go to 0 then prevent it from oscillating * reset gyro command bound to A-button * added wrist setpoint to shuffleboard * made intake faster * started work on a command to pause auton execution for the arm * wrist setpoint on shuffleboard * fix extend thresholds/setpoints because we replaced the gearboxes * intake wrist tilt tuning and fixing * code no workey tilt then move claw arm thingy * Improved and Tuned Arm and Added ff to arm control * fix arm setpoint, fix some intake setpoints, make the intake a little slower, make either the arm or intake move first depending on the context to avoid breaking the robot, among other things * don't have the intake tilt to a 0 position inside the robot because with a game piece that would break something * fix that last commit * log * make rhe a button have field-oriented human player station presets (the tilted station, not the one with the door) and of course tune some more septoints * start work on a python arm vizualization script * made log-processing script only display the graphs if it's being run as the main program (ie not just being imported) * expanded the arm-viz script so now we can actually visualize the arm tilt * add drawing the arm setpoint to the arm-viz script also add in extend, although I want to have a rect move out of the base instead of just having one huge line that extends on its own, although this will work for now * fixed auton making the wrist go the wrong way * raised intake power * don't build unit tests at competition for faster deploy times * fix setpoints * raise intake power, lower driving speed * fix all the autos to use intake position * current limiting for intake * invert drive stick because it's going the wrong way * parameter tuning * palm the cube instead of intake it (we can't pick up cones from the ground anymore though, not without ADDING ANOTHER STUPID BUTTON which would probably be the d-pad but that didn't work out so well at shawnee so anyways * actually use the length setpoint instead of moving both with the encoder reading in the arm-viz script * auto-balance tuning, invert strafing too, don't break our tilt at the start of auto if we start down * practice match logs * competition logs I love life so much I want to go and outlive all the other teams and laugh on their graves * honeslty not sure what I changed, don't care, also removed a bunch of stuff because new intake YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYAAAAAAAAAAAAAAAAAAYYYYY * added manual control for arm back in * deleted all the command we made for the new intake * added test mode * make code build --------- Co-authored-by: deadlyvortex <deadlyvortex944@hotmail.com> Co-authored-by: okcroboticsteam <okcroboticsteam@gmail.com> Co-authored-by: X-EX3-X <ouranous64@gmail.org>
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actual wrist commands and auxiliary code