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
f4863eab06
pid: recalibrate pid
2021-01-11 15:44:33 +01:00
b4bc48b9ed
systems: introduce empty systems for testing purposes
2021-01-11 15:44:33 +01:00
f99d467c36
ball_read: add option to receive bytes from teensy
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Those will turn LED2, LED3, LED4 on or off depending on the byte received
They can be used as status LEDs to report Teensy activity
2021-01-11 15:44:33 +01:00
00e787b62e
ball_read: tweak values for a good reading
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
978be20b03
update ball_read to use registers instead of pinMode and digitalWrite
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also move all the files relative to 32u4 uC inside a dedicated folder
add the Blink script i made to test if everything was working and to test registers for LEDs
2020-11-29 23:17:32 +01:00
b17e54ae27
Merge branch 'master' into newcode
2020-11-23 16:54:57 +01:00
2d573211a5
port ball reading code to 32u4
2020-11-21 16:56:41 +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
EmaMaker