Implement Autopilot for drive-to-pose functionality #92
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new file: vendordeps/Autopilot.json
new file: src/main/java/frc/robot/AprilTagLayout.java modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
Update the drivebase constants PID values with those used for the FRC-2486 2025 competition bot. These were SDS Mk4i w/ Kraken X60's, so should be somewhat close for most robot projects.
The class constructors and command factory for the Autopilot drive-to-pose framework is in place. The next steps will be to define targets and be able to modify drive-to-pose configurations as needed by specific commands.
Included documentation in code about how to use AutoPilot in the RobotContainer class.
Send a supplier for the accelerometer rather than the accelerometer object itself.
The URCL library was causing crashing when trying to test code on the robot. Temporarily removing it to allow for on-robot testing of the rest of the code base.
Previous implementation was double-sampling the PDM because AKit was reading everything and then this module was reading it again. At the moment, power logging is not working at all (even from AKit), but this may be a bug I fixed from 26-beta1 and it will be fine with the kickoff release.
Still not working. The Commands.run() bit is just not being executed. Updated ModuleIOTalonFX.java and ModuleIOTalonFXS.java to match FRC2486's in-season use of those modules.
Use the Commands.defer() construct. Also, include the PID-reset and until parts of the AutoPilot command.
tbowers7
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Closes #87 |
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Implements the Autopilot library for drive-to-pose functionality.