Entering the last week before offseason comp

Trying to make the robot as sophisticated and automated as possible on the controls side here before the offseason event. I’ve haven’t really been working on any other coding project other than this.

Changes/Improvements:

• Replaced the robot’s default position to x-lock instead of idle. X-lock is a wheel position for swerves that makes the robot hard to move.
• Changed the polar magnitude limiter to a acceleration limiter which lets us tune things more directly and easily.
• Developed a list of things the robot should do (like actions to bind to the controller) and implemented them in the code. Many are automated and simple to use, reducing operator error.
• Fixed some improper commands that were causing issues by not being interrupted properly.
• Predictive targetting: picks target based on where teh robot WILL be rather than where it is.
• Experimented with a jerk limit, hoping it’ll cause an s curve but it ended up causing some weird oscillations since it was reactive and not predictive.
• Logged the state for each subsystem.

To do:

• Improving our autonomous routines.
• Add a manual adjustment for targets.

Signing off,
Ash-ioL