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- Use Autopilot for speed calculations, better than PID - Less nesting in CommandSwerveDrivetrain.followObject(), but still a lot (may want to consider changing if possible). - Compensate for camera position not at origin of robot.
Lots of changes here: - Remove slow() option, handle that internally for drivetrain like spin rate. - Add max distance for algae detection (but not logging) - Auton to steal algae, very cool.
- Filter algae pose results to better smooth out bad values - Still unsure why lollipops were failing. More testing is needed.
…ment of the algae height constants, once when estimating distance). Resulted in halved X and Y coordinates of algae in simulation. Removed halving in estimateDistance, and now simulation looks nicer. Need to test with real bot.
…5_Reefscape into algae-tracking
- In order for this to become a viable option, we need to account for the fisheye warp of the lens. cool idea tho
- This helps us, if we want, to parallelize driving and prepping for a net score.
(which didn't work because of the swap to Autopilot)
Now they don't use tracking, which is good seeing as it's unreliably bad for lollipops right now. Still want to implement some form of timeout for lollipop intake tho
This means that as long as the button is pressed down, the alignment command will continue to try to correct for error. We'll have to see if this is a good solution, but I guess we'll find out.
- This makes is more obvious these buttons aren't useful
bczdog
approved these changes
Sep 29, 2025
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This PR merges changes from Kettering. IDK why this wasn't merged already...