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Localization Subsystem#4

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Commits

Commits on Feb 1, 2022

• Intake Subsystem

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Commits on Feb 2, 2022

• Schedule command

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• Motor Config

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• ✏️ make suggested changes

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Commits on Feb 8, 2022

• shooter

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• XBOX_CONTROLLER (constant)

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• RobotContainer Example to Shooter

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• Rename xbox controller

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• Hopper

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• pneumatics for hopper

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Commits on Feb 9, 2022

• Seq Sub 1

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Commits on Feb 17, 2022

• Ported swerve drive code from last year

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• Fixed math in IntakeSubsystem, made Commands for the subsystem

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• Test command for intake/storage ready

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• Fixed subsystem to intake radians per sec, velocity of ball needs calculations

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• Added controller input to shooter via the right trigger

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Commits on Feb 18, 2022

• Disabled intake and hopper after base commands

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• Configured Intake Subsystem Motors

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• Moved to command based button bindings

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• Configured shooter subsystem motors

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• Added manual shooter command

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• Quick configuration of shooter branch

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Commits on Feb 19, 2022

• Added hood to shooter

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• Fixed PIDConfig import

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• Updated swerve drive config

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• Updated swerve drive config

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• Merge branch 'intake' into week-zero

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• Updated shooter bounds config

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• Early config for week zero

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• Added turning to manual swerve drive control

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• Additional config for week zero

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• Configured shooter for week zero configuration

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• Merge branch 'shooter' into week-zero

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Commits on Feb 21, 2022

• Rewrote simplified manual drive command as HolonomicDriveCommand

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• Documented HolonomicDriveCommand

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• Replaced ManualSwerveDriveCommand with HolonomicDriveCommand

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• Merge branch 'swerve-drive' into week-zero

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• Removed unused files

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• Registered subsystem requirements in commands

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• Simplified and organized control flow framework

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• Moved swerve drive units to Constants class

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• Simplified swerve drive configuration

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• Added localization subsystem

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Commits on Feb 22, 2022

• Added odometry method

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• Simplified swerve drive motors and sensors

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Commits on Feb 23, 2022

• Updated CAN IDs

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Commits on Feb 26, 2022

• Corrected canocdder ticks and falcon ticks unit constants

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• Configured controls for new Xbox controller

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• Updated swerve drive debug info

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• Removed stator current limit from swerve drive

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• Updated swerve drive configuration

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• Updated drive controls

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Commits on Mar 1, 2022

• Migrated to WPI 2022

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• Merge branch 'wpi-update' into localization

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• Added orientation to localization subsystem

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• Added field orientation correction

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• Separated translational and rotation velocity in drivebase

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Commits on Mar 2, 2022

• Optimized swerve motor updates

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Commits on Mar 4, 2022

• Quick fix of joystick coordinate system

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• Corrected swerve module optimization

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Commits on Mar 6, 2022

• Added field orientation toggle

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• Updated rotator encoder offsets

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• Added imu offset

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• Swerve drive coordinate corrections

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• Added translational and rotational drivebase interfaces

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• Added lock getters to swerve drive subsystem

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• Added translational drive command

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• Added rotational drive command

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• Removed holonomic drive command

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Commits on Mar 7, 2022

• Rewrote DriveSubsystem interface

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• Scheduled manual drive commands

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• Added position and velocity pseudonym methods

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Commits on Mar 8, 2022

• Documented localization subsystem

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• added the translationalDrivebase interface from swerve-drive branch and added a new command

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Commits on Mar 9, 2022

• Merge branch 'swerve-drive' into localization

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• Added method to convert local velocity to global velocity in odometry

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• Added estimate reset methods

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• Separated orientation and heading

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• Added noise parameter to odometry command

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• Corrected heading and orientation conversion

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Commits on Mar 22, 2022

• Added IMU acceleration data to sensor fusion

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Commits on Mar 23, 2022

• Updated imu bias

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