Fix Pose Bug (Issue #140) #141
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* Add vision examples from good teams * WIP: Getting 254's vision code to compile * FRC254's 2024 vision code builds! -- Next step is to mesh in the parts of the vision code I need for the circular vision buffer to the base vision subsystem. * WIP: Adding SPAM's vision code * SPAM / FRC180 vision now builds -- The vision subsystem from FRC180 / SPAM now builds within the 2486 code base. Next steps are to figure out which parts of the various vision combination schemes I want to use and hack together something! * Add 6328's 2025 drive-to-pose algorithm * Make cleaner diff against Az-RBSI * Update FRC254's vision to 2025 version * Fix rebase error * Clean non-ASCII characters * Compilable Vision with pose buffering -- Create a pose buffer and use timestamps to match vision values with those from odometry to reduce jitter. Also be able to define certain tags in whose location we trust more (e.g. HUB in 2026) in the event of field misshapenness. Weave the new Vision structure together with the drivetrain to allow for timestamped pose insertion into the estimator. --------- Co-authored-by: NutHouse coco-prog-3 <github@team2486.org>
* Clean up the Accelerometer / IMU subsystems -- Clean up the code, but also specifically allow the RIO or IMU to be "on its side" (i.e., Z is not necessarily "up"). * Clean up Drive.java * Clean the Moudule modules a bit * Clean non-ASCII characters * Reduce drivebase periodic cycle time by using primitives * Clean up the Vision module
The SIM mode was not separately gated behind an `else`, so REAL mode was double-adding pose estimates.
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Apparently, the gyro with the new pose buffering is having problems, too. 🤦 |
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Fix the pose bug described in #140 .
The background is that the combination of vision with the new pose buffer causes wild oscillations in the
Pose2dYAW of the robot, even when the robot is physically not moving.In Progress
This PR is still in progress.
Closes #140.