d0324e5a93
ball: new ball reading algorithm, should improve precision
2021-05-29 19:19:37 +02:00
4397d602cd
striker: follow the ball, pick it and score
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Our roller is about to fall apart and i have no specific sensor to detect the ball, which means in perfect conditions it works but it really doesn't in real world conditions
Also we need to ameliorate the communication protocol between teensy and 32u4 in order to not lose precision
2021-05-28 20:53:38 +02:00
393ee29b7e
Merge pull request #1 from EmaMaker/romecup
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Post-Romecup 2021 code
2021-05-19 17:15:09 +02:00
41fefc63c6
latest romecup code
2021-05-14 17:53:47 +02:00
297502ea70
even better pass and shoot
2021-05-14 11:03:46 +02:00
fa005584d9
romecup: initial working pass and shoot
2021-05-14 10:30:35 +02:00
e57a8b036d
bluetooth, at last
2021-05-14 01:57:49 +02:00
aad2a12639
--amend
2021-05-14 01:57:30 +02:00
49db5ff2d1
disable keeper for now
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as it looks like sometimes it blocks code execution
2021-05-13 21:15:22 +02:00
6fc65c7331
precision shooter
2021-05-13 20:42:10 +02:00
0c5737c1ad
mix fixes git decided to cancel
2021-05-13 19:14:45 +02:00
16a781df34
romecup: precision shooter
2021-05-13 08:55:56 +02:00
3631fe18ab
robocup preparation: correct pos-sys-camera bugs
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better use of roller
nice startup/debugging sounds
disable auto gain in H7
2021-05-12 16:44:17 +02:00
f11127bb40
roller: activate when ball is in front
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do not take distance into account
2021-05-11 15:21:22 +02:00
f3eed47a67
camera: translate camera points in raw data, not in position system
2021-05-11 15:20:20 +02:00
15ba2991a1
drive: only drive when the PID is calculated
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no need to recalibrate the pid
2021-05-10 20:37:13 +02:00
714b00ee25
robocup preparation: fix lines
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add a workaround for when we don't see either of the goals
add nice startup sounds
2021-05-10 20:34:26 +02:00
082e7effcf
preparation for romecup: refine striker
2021-05-10 18:28:41 +02:00
9321e6ff0b
we now have a roller
2021-05-07 21:44:50 +02:00
e71c49efd1
camera: coords filtering and better route calculation
2021-04-19 19:16:31 +02:00
3ebe64555b
tilt: better tilt
2021-04-19 19:14:51 +02:00
5e88a21293
sensors: add the robot identifier switch
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and add test for switches
2021-04-19 16:05:42 +02:00
2b40f56bdd
Camera sensor: correct a massive freaking typo
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This caused a huge bug when testing the striker
i'm dumb
2021-04-19 16:00:24 +02:00
5197fa0895
OpenMV H7: avoid crash when blue goal isn't in sight
2021-04-14 15:00:59 +02:00
686c35b85f
position system camera & motors: proper vector sum, value tweaking
2021-04-14 15:00:43 +02:00
3308c26ef4
striker: robot tilt towards the goal when attacking
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Although without a roller the robot just sky-rockets the ball away when they come in touch
2021-04-14 14:58:15 +02:00
95a601f030
keeper: small value tweaking
2021-04-14 14:57:08 +02:00
9c8091851e
complementary filter: default init of variable which may have caused crashes
2021-04-14 14:56:12 +02:00
70f56a5fb2
default serial to 115200 baud
2021-04-14 14:55:19 +02:00
db26808344
test menu: complete refactor
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and add camera tilt test
2021-04-14 14:54:49 +02:00
325656d810
ball sensor: ball angle in absolute space
2021-03-29 15:44:19 +02:00
f26cbf4984
movement: enable vector sum for multiple movements in a single cycle
2021-03-22 14:03:53 +01:00
0aeb92ac27
positionsys camera: introduce an easy way to counter act bad mirror positioning
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This allows to define each point relative to the absolute center of the field shifting each Move Setpoint by a defined user-calibrated amount
2021-03-01 21:47:10 +01:00
2000c8be0b
add a missing pragma once
2021-03-01 21:47:10 +01:00
7deaeff7c0
holon movement: recalculate max possible velocity
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The velocity has been calculated by using the holon movement formulas in an excel spritesheetand and empirically tested to find a suitable value
2021-03-01 21:45:32 +01:00
71cf8ff249
motors: complementary filter on a per-motor speed
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avoid all the cons of bang-bang without spending 5mS ramping up and down
2021-03-01 21:45:26 +01:00
666d628488
sys-camera: a bit of recalibration
2021-03-01 18:37:44 +01:00
b657d88846
striker: use striker based on old Latino's code
2021-03-01 18:37:42 +01:00
019831e237
remove old unused line systems
2021-03-01 18:36:47 +01:00
ef2de95e60
camera: tweaks to OpenMV script
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also add a control on the position of the blue goal
2021-02-23 08:09:39 +01:00
004c4a47de
motors: ramp up and slow down of motors instead of bang.bang
2021-02-22 18:43:43 +01:00
a4be313e96
do not initialize LEDs
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LEDs are hookep up to the AtMega32U4on the new board
Some LED pins are hooked up to line sensors on the new board and caused them not to work properly
2021-02-01 20:57:23 +01:00
61b82c4f50
pins: update buzzer and switches pins
2021-01-31 18:43:25 +01:00
aaa883b250
roles: go back to normal striker
2021-01-31 18:42:32 +01:00
dcdb5ac9d3
camera: update scripts, line and position handling for H7
2021-01-31 18:42:03 +01:00
83bb6f28d5
game: fix order of updating that causes crashes
2021-01-31 18:40:33 +01:00
46a76a340c
bluetooth: sm2 test script
2021-01-15 17:40:28 +01:00
69284cb009
ball read: fix major bug in reading ballSeen
2021-01-11 15:47:24 +01:00
732298b7db
movement: correct pid formula and motors angles
2021-01-11 15:47:18 +01:00
62821341b0
strategy: introduce a test striker with empty systems and set as only role
2021-01-11 15:46:39 +01:00
EmaMaker