Made some progress!

Completed:

• Trajectory generation to bumps using compact code
• Removed trig from polar slew rate and replaced with vector math (so much cleaner)
• Fixed some axis inversion with the contorller input causing weird behavior.
• Broke bump paths unintentionally but fixed it again
• Fixed some landmark positions and zone coordinates that were incorrect
• Increased kp in heading requests to make it snappier

I am pretty surprised at the amount of things that I was about to work on and get done in this 5 hour period of time. I did a lot of testing, involving digging through past commits for direction issues and narrowing down issues with the bump stuff, and I also made sure not to ignore the small details like cleaning up old code and keeping things readable and compact.

Next:

Honestly I might take a small break from this robot. I did have a cool idea of generating PathPlanner trajectories with continuous math functions. But I might do that in another repository and move it over to this after.

Signing off,
Ash-ioL

Progress on the time… but no progress on the code

First of all I want to be clear I spent every minute of these 4 hours working on this. I was learning in depth how commands work, and shortcuts to use them, etc. as I was coding this on the side.

Anyways now that we have that clear, back to the progress report.

So this entire time I was working on making a teleop auto generation functionality to go from bump to bump with the click of a button.

Phase 0: Programmers start at 0

This only took like 5 minutes. So I copied over a utility I made in another robot that remaps the Xbox controller readings from windows axis/buttons to macos axis/buttons. So yay! I can use my controller now.

Phase 1: Brute Force

I wrote a like a 120-200 line code (forgot), and it involved copy pasting and changing stuff each time, resulting in a unique seperate command for each zone the robot can be in.

Why this was changed: It hurt my eyes.

Phase 2: Compactifying:

So I managed to simplify those into one command that modifies the pose x y and rotation values directly and uses mirroring and stuff to really keep it as low lines and simple as possible. I was proud of this, took a lot of thinking and fixing minor tiny errors here and there.

Phase 3: Kicking out the teammate with 4000 ping

By teammate, I mean advantagescope. It turns out when I was a youngling learning to do frc code (still am ig), i accidentally installed the x64 version into my macbook instead of the arm64, so after installing the advantagescope that my cpu works better with, it fixed the 4000ping and 10fps and I got a beautiful thing actually moves more than 4 steps when I push the joystick.

Before this it took me a lot of time ot figure out that i needed to reinstall advantage scope. I tried to mess aorund with the command scheduler, have a debate with stubborn AI about how to fix this, and lets just say it took a lot of time.

Phase 4 - What… the… hail who sped up time while i was coding

So now as I am writing this I am looking at the clock expecting it to be 10am, and its currently 11:30am which is normal for some people but I do practice at 6:30am so I’m probably not gonna feel the best tomorrow but whatever. Oh and how did my code work?

THE COMMAND JUST MAKES THE ROBOT JUST STUPIDLY DRIVE STRAIGHT TO THE MIDDLE OF FUDGING NOWHERE

but yea thats a problem for tomorrow.

And sorry the repository is private for now. I’ll try to get it public when my team meeting happens.

Signing off,
Ash-ioL