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
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
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
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
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
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
b4bc48b9ed
systems: introduce empty systems for testing purposes
2021-01-11 15:44:33 +01:00
b9eefb2c10
use 5kHz as pwm frequency for motors
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So we don't get the motors stopping to turn when changing direction at high speeds because of current limit on the vnh7070
2021-01-11 15:44:33 +01:00
5566afb5bc
do not update usCtrl
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They're not on the robot, they're not defined in the code, and updating them will just cause the whole thing to crash
2021-01-11 15:44:33 +01:00
57fe2fd18c
test: add a couple of tests for 32u4
2020-12-17 13:17:00 +01:00
b17e54ae27
Merge branch 'master' into newcode
2020-11-23 16:54:57 +01:00
2354015201
reorder files into system folders
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also rename Goalie to Striker because GRAMMAR
(Goalie actually means keeper but we always intended it as a striker :D)
2020-11-04 17:46:22 +01:00
c0b8771c47
a bit of recalibration for everything for the presentation game
2020-10-31 15:37:38 +01:00
f0a8ad6808
disable vector sum code for now
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calculations are a bitty crappy, think I found the bug for now (check added comments)
2020-10-31 15:37:05 +01:00
bc040bd084
goalie: use status vector's CURRENT_DATA_READ to get sensors data
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So this is in sync with the rest of the data being used in the cycle. This runs a loop cycle behind reality, but we don't care on such a fast machine
Also use atk_speed instead of hardcoding it to 100
2020-10-29 22:39:39 +01:00
304610e2e2
recycle striker strategy from last year code
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bad translation, goalie is actually a striker
2020-10-29 17:20:36 +01:00
0f913d8ad1
implement test menu in main loop
2020-10-29 17:19:20 +01:00
6d3a4f19d4
fixed motor angles
2020-05-06 11:46:41 +02:00
beb9133b4b
removed data_source_us.h/.cpp, no US present on the 2021 robot, if needed, the files can be found in branch master
2020-05-05 18:13:14 +02:00
e341214905
first commit, starting to work with a new setup
2020-05-05 17:57:43 +02:00
4ea08fa700
merge
2020-03-20 19:27:55 +01:00
bc0b19ccf1
started thinking about goalie, to be tested, dunno if it works
2020-03-14 19:43:51 +01:00
49a5689443
Merge
2020-03-12 12:13:25 +01:00
f62d013675
position system camera and vector sum system to do multiple movements in a single one. obv to be tested, but it's difficult without robot and field
2020-03-12 12:09:13 +01:00
60f4878a08
fix last merge
2020-03-12 11:16:23 +01:00
baf834d6c3
aaaaaaa
2020-03-12 11:15:46 +01:00
01f0ad70a1
looking at past days' work
2020-03-12 11:14:13 +01:00
4cd4b8f9d6
merge
2020-03-09 17:34:14 +01:00
b891d8c803
edits in camera
2020-03-09 17:10:22 +01:00
f535fbdbef
still test menu, still to test
2020-03-03 18:00:45 +01:00
d06b553f15
added testMenu, to be tested
2020-03-03 11:52:39 +01:00
dddbbc1810
Corrected a few major bugs in camera data receiving and using. Still no lock trying to directly fix goals' coordinates using axis rotation formula.
2020-03-02 20:45:48 +01:00
8299d82dff
Merge branch 'master' of https://github.com/EmaMaker/SPQR1-2020
2020-03-02 18:48:50 +01:00
4e0ae43573
camera lines
2020-03-02 18:48:29 +01:00
74a712121f
little correction to the pid for position
2020-03-02 15:54:27 +01:00
cefd106a5e
organized code in 5 folders, left vars.h and main.cpp out of them for easy changing purposes. also did two currently_unused folder in sensors for us and things soon-to-be taken out from the robot (like v-shaped mirror)
2020-02-29 22:10:53 +01:00
9afd6bf8b6
camera working
2020-02-28 16:45:28 +01:00
00f6192255
now the robot can use the camera to recenter even when one the goals can't be seen
2020-02-27 17:30:10 +01:00
752866de32
centering with camera only when both goals seen. Using a pid for each axis and then converging the outputs in an angle. This could be possibly done with multiple movements in a single loop and then merged together in a single one.
2020-02-26 20:07:14 +01:00
33bdb4462a
complementary filter object
2020-02-26 18:56:39 +01:00
3c34a71676
camera pid testing
2020-02-26 18:51:46 +01:00
e0c7c569f6
aaaaaaaaaaaaaaaaA
2020-02-26 16:00:26 +01:00
42d73d7e85
New conic shaped mirror, works better. It's higher and has more noticeable changes on the y axis
2020-02-21 13:37:32 +01:00
EmaMaker
u-siri-ous