Smoother Tracking, Quicker Maneuvers, Automated Sequences

It’s been a week or two since my last devlog. I’ve been working on this and helping getting it ready with my team for our next offseason competition, which is probably when I’ll do my first ship for my contributions to this project.

Features:

• Improved aiming while shooting by using the interpolated mean to average the robot’s velocity to make it less impacted by randomness.
• Smart controller detectoin to see how many controllers your using and binds the functions appropriately.
• More efficient bump crossing with the robot now snapping to the nearest 45 degrees rather than just a fixed one.
• Improved compatibility in my customjoystick for simulation.
• Reduced the logging overhead by removing unecessary stuff that’s only needed in simulation.
• Made it classify aiming as not idle so that it aims when standing still.

I also spent time adding logging for these features and making sure the code is neat and readable as possible, while double checking and testing in simulation a lot. I also fixed a couple small bugs here and there.

Tha challenges were mainly not that like confusing as it is sometimes. The big thing was like testing and navigating the code which took up the most time. But really this is all worth it because its so nice to see your code just come to life on a real robot.

Signing off,
Ash-ioL