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| "scoringLocations": [ | ||
| "Reef0" | ||
| ], | ||
| "scoringLevels": [ | ||
| "L4" | ||
| ], |
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note: these currently do nothing
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@jkleiber I think I'll complete this and then we can replace it with correct StrategyManager implementation later. The new desired locations will provide a decent starting point so we don't have to write that stuff again. |
…ecessary logs, fix incorrect logging, add another drive to algae action to get move points
jkleiber
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let's try to test this in shop today - maybe we can get fab to prioritize the correct reef poles, or we can just hand the robot the algae directly
…up to avoid far warmup happening in algae mode and flipping the robot over
…ine and give algae otf 0 an actual pose
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Something is incredibly suspicious here: It looks like AutoIntakeBargeAlgae's end method:
is getting called AFTER the init of AutoDriveToLocation and therefore it's cancelling the linear drive:
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…fix command scheduler classic) & make progress toward back-to-back linear drive commands working properly
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In an insane turn of events, the command scheduler was only ending the previous command after we scheduled the next one. Fixed by just adding a manual call to cancel in strategy manager so that it cancels commands whenever they report that they are finished so that they don't linger until the next CommandScheduler loop and destroy robot state with their end() methods. |
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Nice find @aidnem ! |
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Still no luck on making the final drive to position command work, its ending way too early. I'm very close though, I added a ton of logging and I'm 90% sure it's ending before it can properly initialize so its goal pose is really cooked. I can try more over the weekend. |
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Apparently you can break wiring in sim too?? not sure what's happening but I'm going to restart my laptop and maybe give up for today
edit: I was accidentally launching hardware sim instead of normal sim 🤦 |
…evator would stay up while linear driving away after a score due to erroneously zero-ticking into early warmup
127.0.0.1.AdvantageScope.2025-04-17.18-39-57.mp4This video is from before I fixed the elevator staying up bug but it shows everything else working flawlessly :) |
jkleiber
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just some code comments
| @aidnem verification evidence from shop |
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Adds a flag to AutoStrategy that, when true, ignores the strategy you have and replaces it with: