0aeb92ac27
positionsys camera: introduce an easy way to counter act bad mirror positioning
...
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
2ac684220f
best pid YET
2020-02-19 17:44:31 +01:00
f2903c2c6b
Now using status vector everywhere :D (To be tested)
2020-02-18 09:37:36 +01:00
0d5ce9576c
Now using Flavio's PID Library, plays flawlessly
2020-02-17 19:47:51 +01:00
75711e6f28
Now using Flavio's PID Library, plays flawlessly
2020-02-17 19:16:29 +01:00
64db5d2688
slight edits to goalie
2020-02-17 19:14:48 +01:00
6aa404465e
ema taking over
2020-02-17 18:52:54 +01:00
372e6ac02c
experimenting with y axis
2020-02-17 18:38:57 +01:00
f62bb9751f
camera recenter (on x axis) working c:
2020-02-17 17:42:58 +01:00
cee576e9c8
now latest complete structs are copied into new ones when updating status vector
2020-02-17 14:34:39 +01:00
be2bff433d
status vector now working better. Still have to fix something
2020-02-12 21:44:30 +01:00
73981ad784
status vector now working better. Still have to fix something
2020-02-12 21:44:00 +01:00
8634041ecf
status vector now working better. Still have to fix something
2020-02-12 21:43:20 +01:00
5a9ce6692f
not working
2020-02-12 18:53:25 +01:00
fc840b84be
corrected a few errors, Furio plays is more precise than ever when playing
2020-02-10 19:55:56 +01:00
2577cd568c
Now using arduino PID library for movements. There probably a better way to use this, but it works for now
2020-02-10 19:48:31 +01:00
1b2a810ad3
status vector not quite working
2020-02-05 19:46:57 +01:00
3c09f031f1
status vector c:
2020-02-05 18:57:11 +01:00
c3ebf4913f
storcimento kinda working
2020-02-03 18:59:44 +01:00
73299bc6c4
Camera angle fix using IMU working once for all
2020-02-03 14:12:04 +01:00
b87488b1c1
Camera angle correction using IMU should now work correctly
2020-02-03 10:30:00 +01:00
6acc62c1a3
Fixed camera angle reading from both openmv and teensy. Tilt from goalie kinda working now
2020-01-31 13:35:40 +01:00
df0b37554c
reintroduces semi axis locking. Some bug with the lines make the robot stop when it gets on one. Tilt with vshaped mirror reintroduced
2020-01-29 18:56:49 +01:00
9a8830f275
Angles finally working
2020-01-27 17:47:36 +01:00
e84292568e
Angles working?
2020-01-27 17:05:39 +01:00
dc251467bd
Calculating angles with the camera, have to be fixed with the 90 degrees offset. Uploading a little teesny <-> atmega32u4 test script for bidirectional relaiable serial communication
2020-01-26 20:13:31 +01:00
a9d9bc7928
new goalie c:
2020-01-22 18:52:13 +01:00
05399d8557
new goalie c:
2020-01-22 18:51:30 +01:00
d534c5b4a8
working camera->teensy transimission protocol
2020-01-22 17:22:32 +01:00
13134cac99
camera fixing and new goalie(to test)
2020-01-22 16:55:55 +01:00
3f6835ac94
aaaaaaa
2020-01-20 18:57:14 +01:00
21d14cf878
new protocol for camera
2020-01-20 18:43:51 +01:00
069e119f15
First camera script for conic shaped mirror
2020-01-15 18:43:08 +01:00
194812eb81
aaaa
2020-01-15 15:16:05 +01:00
023d42c868
fixed a major issues with linesystems
2020-01-15 13:55:51 +01:00
8fffdfd83b
first test with new code, plays great
2020-01-13 17:07:26 +01:00
6a0d660aab
reimproted the zone position system
2019-12-26 17:44:58 +01:00
c0495a64af
position
2019-12-17 09:31:36 +01:00
f200685ffb
started porting bt, corrected smth
2019-12-11 16:29:18 +01:00
0dabecbed5
forgot to save a file
2019-12-09 21:31:57 +01:00
20b3aa1b0c
ported goalie and keeper from old code, condtion code working to decide game strategy
2019-12-09 19:08:05 +01:00
c6856fdbce
fixed something left by u-siri-ous
2019-12-05 14:29:16 +01:00
23794ebc2d
strange behaviour. started zenhub for this repo.
2019-12-05 13:31:21 +01:00
5a0701f09e
sbubabub
2019-12-05 12:55:56 +01:00
4e3bf45bcb
sbubabub
2019-12-05 12:53:14 +01:00
049b0c1830
lines now working: angle of each motor was est to 0 in constructor
2019-12-05 12:51:23 +01:00
c3bb06f89d
merged code
2019-12-05 11:57:18 +01:00
39cbeb1e59
Lines not working well, fixed missing initializations that caused the code to crash
2019-12-05 11:53:01 +01:00
f3e49b2a7a
started writing goalie(), kinda dumb but seems to work
2019-12-05 11:50:58 +01:00
75610d3dde
first trial to follow the ball
2019-12-04 17:25:25 +01:00
db244dd35c
ema scemo
2019-12-03 11:22:42 +01:00
EmaMaker
u-siri-ous
EmaMaker
EmaMaker