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Adds scoring features #37

Merged
merged 24 commits into from
Jan 22, 2024
Merged

Adds scoring features #37

merged 24 commits into from
Jan 22, 2024

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honzikschenk
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@honzikschenk honzikschenk commented Jan 19, 2024 •
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Adds the rest of the necessary scoring features for MVA (almost)

  • Adds real motor IOs
  • Fully simulates scoring/state logic
  • Adds banner sensor implementation

Here's an example of the simulation with aiming and mode switching. (kP is a bit over-tuned)

@honzikschenk honzikschenk added this to the Scoring MVP milestone Jan 19, 2024
@honzikschenk honzikschenk self-assigned this Jan 19, 2024
@honzikschenk honzikschenk linked an issue Jan 19, 2024 that may be closed by this pull request
Additional scoring mechanism features #30
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3 tasks
@honzikschenk
Transfers banner sensor to scoring subsystem
ab44317
@honzikschenk
Adds SensorManager with banner sensor
991f319
@honzikschenk
Transfers banner sensor to scoring subsystem
ce28c61
@honzikschenk
Merge branch 'scoring-features' of https://github.com/team401/2024-Ro…
81fb908 
…bot-Code into scoring-features
@honzikschenk
Adds TalonIOs for aimer and shooter
5987a82
@honzikschenk
Tunes scoring sim - Working state logic
c7fe43f
@honzikschenk
Adds SensorManager with banner sensor
98efe0e
@honzikschenk
Transfers banner sensor to scoring subsystem
17d35a1
@honzikschenk
Adds SensorManager with banner sensor
796f952
@honzikschenk
Transfers banner sensor to scoring subsystem
c2f51ff
@honzikschenk
Adds TalonIOs for aimer and shooter
590ffff
@honzikschenk
Tunes scoring sim - Working state logic
a9d61ca
@honzikschenk
Merge branch 'scoring-features' of https://github.com/team401/2024-Ro…
ca44ee8 
…bot-Code into scoring-features
@honzikschenk
Adds aiming interpolation with sample data
67b5408
@honzikschenk
Renames aimer to be more consistent
355493f
@honzikschenk
Tunes aim sim for goal tracking
312c152
@honzikschenk honzikschenk requested review from jkleiber, minhnguyenbhs and charlesmackenzie and removed request for minhnguyenbhs January 21, 2024 05:46
@honzikschenk honzikschenk marked this pull request as ready for review January 21, 2024 05:47
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The formatter for some reason won't let me ignore the button binding styles.

jkleiber
jkleiber reviewed Jan 21, 2024
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Some first pass comments. For others trying to review this PR, there are a lot of files Github indicates as changed that aren't actually changed. I used this link to assist in the review of what was actually changed

README.md Outdated Show resolved Hide resolved
src/main/java/frc/robot/RobotContainer.java Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/AimerIOSim.java Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/AimerIOTalon.java Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/subsystems/scoring/ShooterIOSim.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/utils/InterpolateDouble.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/utils/InterpolateDouble.java Outdated Show resolved Hide resolved
@honzikschenk honzikschenk requested a review from jkleiber January 22, 2024 14:38
jkleiber
jkleiber reviewed Jan 22, 2024
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Only a few comments left, mostly about the banner sensor

src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java Outdated
@@ -10,14 +19,22 @@ public class ScoringSubsystem extends SubsystemBase {
private final AimerIO aimerIo;
private final AimerIOInputsAutoLogged aimerInputs = new AimerIOInputsAutoLogged();

DigitalInput bannerSensor = new DigitalInput(Constants.SensorConstants.bannerPort);
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This line should be deleted now that it's in the IO class

src/main/java/frc/robot/subsystems/scoring/ShooterIOSim.java Show resolved Hide resolved
src/main/java/frc/robot/utils/InterpolateDouble.java Outdated Show resolved Hide resolved
@honzikschenk honzikschenk requested a review from jkleiber January 22, 2024 15:30
jkleiber
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Only one thing left before this is ready to go imo

src/main/java/frc/robot/utils/InterpolateDouble.java Outdated Show resolved Hide resolved
@honzikschenk honzikschenk requested a review from jkleiber January 22, 2024 15:40
jkleiber
jkleiber previously approved these changes Jan 22, 2024
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approved!

@honzikschenk honzikschenk dismissed jkleiber’s stale review January 22, 2024 15:41

The merge-base changed after approval.

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honzikschenk commented Jan 22, 2024 •
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@jkleiber Sorry, I don't know what's happening. This seems to be an issue whenever I do a PR. Could it be the rebasing or the "re-request review" button I've been pressing?

Should I just bypass it again?

jkleiber
jkleiber previously approved these changes Jan 22, 2024
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@honzikschenk honzikschenk dismissed jkleiber’s stale review January 22, 2024 16:46

The merge-base changed after approval.

@jkleiber jkleiber removed the request for review from charlesmackenzie January 22, 2024 16:48
@jkleiber jkleiber closed this Jan 22, 2024
@jkleiber jkleiber reopened this Jan 22, 2024
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@redPlover I closed and re-opened the PR and also changed the branch protection settings per this known issue. CI seems to be working now.

I think the cause is related to GitHub not handling the merge updates to branches (another reason to use rebase I guess, but this shouldn't actually be a problem)

@honzikschenk honzikschenk merged commit 984d5ea into main Jan 22, 2024
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Thank you!

@honzikschenk honzikschenk deleted the scoring-features branch January 22, 2024 17:14
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Additional scoring mechanism features
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