Pose estimation v2 #154
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Pose estimation v2 #154
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Changed from inches to meters Extracted turret relative velocity to separate method Reformatted pose doc comments Added method to convert from Vector2 to Translation2d to GeoConvertor
Added doc comment to TargetLocalizer specifying field-centric poses Switched back to inches (should discuss and finalize) Switched from hub-centric to field-centric Added null checks for gyro angle Added getGyroscopeYaw() and getFieldCentricTurretAngle() Removed getVisionGyroRobotPoseRelativeToStart() Specified frames of reference Formatted some doc comments
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Next update is to combine drivebase pose and vision+gyro pose with |
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Also, we should decide if we're going to use inches or meters. |
…to pose-estimation
Made startingPose and gyroAdjustmentAngle non-final Added resetPose() and resetPoseFromAutoStartPose() Reset target localizer pose in autonomousInit()
TAKBS2412
reviewed
Mar 29, 2022
src/main/java/frc/team2412/robot/subsystem/TargetLocalizer.java
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Also fixed typo in docs
TAKBS2412
reviewed
Mar 30, 2022
…to pose-estimation
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…to pose-estimation Used turretAngularFF instead of TURRET_ANGULAR_FF
…to pose-estimation Fix typo in getDepthVelocity() Added check if the limelight has a target before filtering
…to pose-estimation
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Separate pose estimation logic Change getTurretAngle() to be CCW-positive
Remove doc comment parameter for removed parameter Change ROBOT_CENTRIC_TURRET_CENTER to +X axis forward (intake side) Remove unused startingPose Ignore turret bias in pose estimation
…to pose-estimation
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Switched from 2910 to WPILib geometry classes
Added method to convert from
Vector2toTranslation2dReformatted doc comments
Specified field-centric frame of reference
Switched from hub-centric to field-centric
Added null checks for gyro angle
Added
getGyroscopeYaw()andgetFieldCentricTurretAngle()Removed
getVisionGyroRobotPoseRelativeToStart()Specified method frames of reference