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
41061931fc
FILE DECRISTO
2020-06-02 17:48:02 +02:00
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
809069a0d3
still README.md
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ocd much?
2020-02-29 22:41:10 +01:00
faafe94e11
updated README.md
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we now have names and such
2020-02-29 22:37:15 +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
EmaMaker
u-siri-ous
Siria Sannino