Seed start position in auto #224
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…ramework is there?
@minhnguyenbhs maybe featureflag off vision (if thats possible?) and then run an auto without it in sim and video the proof |
linglejack06
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linglejack06
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this looks great, i can approve as long as we have some sort of visual proof or we test in shop. But code implementation looks good to me other than the numbers regarding flipping pose (there might actually be a flip pose method too? not sure)
| && DriverStation.getAlliance().get() == Alliance.Blue) { | ||
| startPose = | ||
| new Pose2d( | ||
| 17.5 - startPose.getX(), |
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i think the 17.5 should be 17.3736 for full accuracy? same with the 8 (should be 7.9248)
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ahh i don't super know how to provide visual proof :( this was with the camera off? green is where the robot thinks it is (I can fix maplesim too if that's a high priority)
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MapleSim vision is bad due to a stupid mistake I made
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maplesim vision uses odometry position for one camera and maplesim position for the other camera
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oh this doesn't use camera though so that's ok :D although I can fix that as part of this branch if you want
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maplesim vision uses odometry position for one camera and maplesim position for the other camera
@avidraccoon I actually fixed this in #223
| @@ -1,5 +1,8 @@ | |||
| { | |||
| "runDrive": true, | |||
| "runVision": false, | |||
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note: we need to turn this back on before merging
| Units.inchesToMeters(12.0), | ||
| new Rotation3d(0, 0, 0)); | ||
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| public final Integer safetyThreshold = 10; |
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Could we rename this something like "minimumVisionMeasurementInitCount" or similar to indicate that this is a counter of how many vision measurements we need to trust that the robot is in the correct location?
| new Pose2d( | ||
| 17.3736 - startPose.getX(), | ||
| 7.9248 - startPose.getY(), | ||
| new Rotation2d(startPose.getRotation().getRadians() - Math.PI / 2)); |
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can we add verification that this works when we are on the blue alliance? I think a screenshot of where the robot thinks it starts in auto would be fine for this for blue
…//github.com/team401/2025-Robot-Code into 202-seed-start-position-and-rotation-in-auto
What kind of screenshot would you like as evidence? I think the estimates for seeded setpoints might be off but the framework is hopefully done!