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v4.0

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@seaturtle888 seaturtle888 released this 24 Mar 23:10
· 52 commits to master since this release
v4.0
40a1985

[v4.0] – 2026-03-04

New Features

  • Intelligent Auto-Aiming: Integrated PedroPathing positioning data directly into TeleOp, enabling the robot to automatically align with scoring targets based on real-time field coordinates.
  • Active Drift Correction: Implemented vision-based relocalization via LimeLight, allowing the robot to automatically correct odometry errors and maintain field positioning throughout a match.
  • Automated Scoring Cycles: Added state-machine sequences to DecodeTeleOp, allowing for one-button automated scoring routines to maximize cycle efficiency.

Enhancements

  • Shooter Velocity Regulation: Deployed a new velocity control algorithm to ensure consistent flywheel speeds and launch trajectories, regardless of battery voltage fluctuations.
  • Drivetrain Overhaul: Rebuilt the drivetrain on a state-based system, providing smoother transitions between manual driving and automated pathing.

System Stability

  • Sensor Fusion Fixes: Resolved critical unit-conversion bugs between the vision system and hardware odometry to ensure data accuracy.
  • Codebase Optimization: Streamlined the project by removing legacy components and refactoring core classes for better reliability.
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