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commit 341eec43e2a03f6e4c5f6d87e9592af30e541d77
Author: danieldb <[email protected]>
Date:   Wed Dec 4 14:48:45 2024 -0500

    resolve conflicts

commit f48e8d4
Author: j5155 <[email protected]>
Date:   Sat Nov 30 15:31:43 2024 -0900

    Use Pinpoint IMU for tuning

commit 63c073c
Merge: af146cd fb3777a
Author: j5155 <[email protected]>
Date:   Sat Nov 30 15:22:47 2024 -0900

    Merge branch 'master' into pinpoint

    # Conflicts:
    #	TeamCode/build.gradle

commit fb3777a
Author: j5155 <[email protected]>
Date:   Sat Nov 30 15:22:17 2024 -0900

    ftc-otos 0.1.2

commit 3c1afbe
Author: j5155 <[email protected]>
Date:   Sat Nov 30 13:47:59 2024 -0900

    Improve commenting around inpertick/lateralinpertick

commit ab6f994
Author: j5155 <[email protected]>
Date:   Sun Nov 24 13:06:44 2024 -0900

    update ftc-otos

commit a6b50af
Merge: 2444bf9 a2012b1
Author: j5155 <[email protected]>
Date:   Sun Nov 17 15:34:46 2024 -0900

    Merge remote-tracking branch 'origin/master'

commit 2444bf9
Author: j5155 <[email protected]>
Date:   Sun Nov 17 15:34:41 2024 -0900

    switch to dairy library repo

commit af146cd
Author: j5155 <[email protected]>
Date:   Sun Nov 17 15:34:03 2024 -0900

    switch to dairy library repo

commit bf3c7c7
Merge: 5d8f3e2 496e6f7
Author: j5155 <[email protected]>
Date:   Sun Nov 17 15:14:28 2024 -0900

    Merge remote-tracking branch 'origin/pinpoint' into pinpoint

commit 5d8f3e2
Author: j5155 <[email protected]>
Date:   Mon Oct 7 10:20:01 2024 -0800

    Log status too

commit a70c9d4
Author: j5155 <[email protected]>
Date:   Mon Oct 7 10:17:50 2024 -0800

    Add raw pinpoint pose logging

commit 80b1f9f
Author: j5155 <[email protected]>
Date:   Sat Oct 5 21:07:30 2024 -0800

    fix example

commit 61144b8
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:55:14 2024 -0800

    fix localizationtest

commit 58ec068
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:54:19 2024 -0800

    add logging

commit 44dd9c4
Author: j5155 <[email protected]>
Date:   Sat Oct 5 11:10:29 2024 -0800

    Update upstream driver

commit 5a9366e
Author: j5155 <[email protected]>
Date:   Sat Sep 28 15:18:52 2024 -0800

    Add calibration sleep

commit 0caeb3c
Author: j5155 <[email protected]>
Date:   Sat Sep 28 14:42:19 2024 -0800

    Bump roadrunner-ftc and fix misc issues

commit 7e0b287
Author: j5155 <[email protected]>
Date:   Wed Sep 25 21:07:42 2024 -0800

    bump lib

commit d031549
Author: j5155 <[email protected]>
Date:   Sun Sep 22 12:27:30 2024 -0800

    Comment improvements

commit 8c86541
Author: j5155 <[email protected]>
Date:   Fri Sep 20 15:40:41 2024 -0800

    fix example

commit 9faf4bc
Author: j5155 <[email protected]>
Date:   Fri Sep 20 15:39:22 2024 -0800

    update road-runner-ftc fork

commit 7208a1e
Author: j5155 <[email protected]>
Date:   Fri Sep 20 11:19:36 2024 -0800

    add PinpointDrive to TuningOpModes

commit 7d6ccd9
Author: j5155 <[email protected]>
Date:   Thu Sep 19 17:26:35 2024 -0800

    Update library, add initial draft of PinpointDrive and example class

commit a2012b1
Author: j5155 <[email protected]>
Date:   Thu Nov 14 01:34:46 2024 +0000

    Update README.md

commit 5de0ad2
Merge: 6a86d94 f63d1bc
Author: j5155 <[email protected]>
Date:   Mon Nov 11 14:56:22 2024 -0900

    Merge branch 'master' of https://github.com/acmerobotics/road-runner-quickstart

commit f63d1bc
Merge: 8e7870f ee16f8e
Author: Ryan Brott <[email protected]>
Date:   Sat Nov 9 15:26:35 2024 -0800

    Merge SDK v10.1.1

commit 496e6f7
Author: j5155 <[email protected]>
Date:   Fri Nov 8 02:50:43 2024 +0000

    Create PINPOINT_INSTRUCTIONS.md

commit 6a86d94
Merge: 855bfc5 8e7870f
Author: j5155 <[email protected]>
Date:   Thu Oct 17 20:21:48 2024 -0800

    Merge branch 'master' of https://github.com/acmerobotics/road-runner-quickstart

commit 8e7870f
Author: Ryan Brott <[email protected]>
Date:   Sun Oct 13 10:13:09 2024 -0700

    Fix tank drive turn min ang accel (fixes FIRST-Tech-Challenge#420)

commit 35a2025
Author: j5155 <[email protected]>
Date:   Mon Oct 7 10:20:01 2024 -0800

    Log status too

commit f912338
Author: j5155 <[email protected]>
Date:   Mon Oct 7 10:17:50 2024 -0800

    Add raw pinpoint pose logging

commit 75b968e
Author: j5155 <[email protected]>
Date:   Sat Oct 5 21:07:30 2024 -0800

    fix example

commit 962b020
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:55:14 2024 -0800

    fix localizationtest

commit f8e44bb
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:54:19 2024 -0800

    add logging

commit b87c929
Merge: 5f1a35b 855bfc5
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:53:49 2024 -0800

    Merge branch 'master' into pinpoint

commit 855bfc5
Author: j5155 <[email protected]>
Date:   Sat Oct 5 20:53:15 2024 -0800

    add logging

commit 5f1a35b
Author: j5155 <[email protected]>
Date:   Sat Oct 5 11:10:29 2024 -0800

    Update upstream driver

commit 7bc306e
Author: j5155 <[email protected]>
Date:   Sat Sep 28 15:18:52 2024 -0800

    Add calibration sleep

commit 7b9b799
Author: j5155 <[email protected]>
Date:   Sat Sep 28 14:42:19 2024 -0800

    Bump roadrunner-ftc and fix misc issues

commit 6ac2fcd
Author: j5155 <[email protected]>
Date:   Wed Sep 25 21:07:42 2024 -0800

    bump lib

commit 73980a6
Merge: 9c4ec40 161a550
Author: j5155 <[email protected]>
Date:   Sun Sep 22 12:44:21 2024 -0800

    Merge branch 'master' into pinpoint

    # Conflicts:
    #	TeamCode/build.gradle

commit 161a550
Merge: b8ed5e3 5f35f4c
Author: j5155 <[email protected]>
Date:   Sun Sep 22 12:43:14 2024 -0800

    Merge remote-tracking branch 'upstream/master'

    # Conflicts:
    #	TeamCode/build.gradle

commit 9c4ec40
Author: j5155 <[email protected]>
Date:   Sun Sep 22 12:27:30 2024 -0800

    Comment improvements

commit 5f35f4c
Author: Ethan <[email protected]>
Date:   Sat Sep 21 18:53:31 2024 -0700

    Merge FTC SDK v10.1

    Co-authored-by: Cal Kestis <[email protected]>
    Co-authored-by: Cal Kestis <[email protected]>

commit cf9c062
Author: j5155 <[email protected]>
Date:   Fri Sep 20 15:40:41 2024 -0800

    fix example

commit f983193
Author: j5155 <[email protected]>
Date:   Fri Sep 20 15:39:22 2024 -0800

    update road-runner-ftc fork

commit d1d2e3f
Author: j5155 <[email protected]>
Date:   Fri Sep 20 11:19:36 2024 -0800

    add PinpointDrive to TuningOpModes

commit 7bab5bf
Author: j5155 <[email protected]>
Date:   Thu Sep 19 17:26:35 2024 -0800

    Update library, add initial draft of PinpointDrive and example class

commit dab1d63
Author: Ryan Brott <[email protected]>
Date:   Thu Sep 19 09:41:48 2024 -0700

    Fix angular velocity

    Add workaround for FIRST-Tech-Challenge#1070

commit b8ed5e3
Author: j5155 <[email protected]>
Date:   Wed Sep 18 21:46:22 2024 -0800

    update to upstream road-runner-ftc

commit a05fae8
Author: Ryan Brott <[email protected]>
Date:   Wed Sep 18 21:37:05 2024 -0700

    Bump RR FTC (fixes #405)

commit 5874659
Merge: 5cd2717 a75cfba
Author: j5155 <[email protected]>
Date:   Mon Sep 9 18:54:48 2024 -0800

    Merge upstream; update dash

commit a75cfba
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 8 19:10:24 2024 -0700

    Bump dash

commit 5cd2717
Merge: e373ae3 3a22b94
Author: j5155 <[email protected]>
Date:   Sun Sep 8 13:27:43 2024 -0800

    Merge branch 'sdk-update'

commit 3a22b94
Author: j5155 <[email protected]>
Date:   Sun Sep 8 13:21:06 2024 -0800

    update to latest road-runner-ftc-otos

commit 9b78591
Author: j5155 <[email protected]>
Date:   Tue Aug 27 14:18:09 2024 -0800

    improve comments

commit abef3bb
Author: j5155 <[email protected]>
Date:   Sun Aug 11 17:38:02 2024 -0800

    use corrected driver

commit 76027d0
Author: j5155 <[email protected]>
Date:   Wed Aug 7 17:49:13 2024 -0800

    update to 9.2, use official driver

commit 6bbaf26
Author: j5155 <[email protected]>
Date:   Sat Jul 6 15:27:01 2024 -0800

    read pos and vel at the same time, massively improving loop times

commit 84ee83b
Author: j5155 <[email protected]>
Date:   Mon Jul 1 16:02:33 2024 -0800

    actually update the pose

commit ab39f1c
Author: j5155 <[email protected]>
Date:   Sun Jun 30 22:49:52 2024 -0800

    Add tuners and docs

commit dba0a0a
Author: j5155 <[email protected]>
Date:   Sun Jun 23 20:13:01 2024 -0800

    fix OTOSDrive to actually write lastpose + logging

commit 946c885
Author: j5155 <[email protected]>
Date:   Sun Jun 23 20:09:56 2024 -0800

    various fixes

commit 93220df
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:45:01 2024 -0800

    actually use otosdrive as tuning drive

commit 22cdc0c
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:43:58 2024 -0800

    initial support for OTOS as encoder for tuningopmodes (not used for rotation yet, still depends on chub imu)

commit b6f31bf
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:30:25 2024 -0800

    update library and deal with manual pose setting

commit baadb75
Author: j5155 <[email protected]>
Date:   Mon Jun 3 22:36:49 2024 -0800

    use library for functions instead of hardcoding into quickstart

commit d0c6c83
Author: j5155 <[email protected]>
Date:   Mon Jun 3 22:24:08 2024 -0800

    add dependency on forked library and change drive and localizers to use it

    # Conflicts:
    #	TeamCode/build.gradle

commit 8e0748e
Author: j5155 <[email protected]>
Date:   Sat Jun 1 20:53:47 2024 -0800

    add initial drive based on apriltagdrive and modify LocalizationTest to use it

commit e373ae3
Author: j5155 <[email protected]>
Date:   Sun Sep 8 13:21:06 2024 -0800

    update to latest road-runner-ftc-otos

commit ed1d692
Merge: af672c7 442c867
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 8 09:28:19 2024 -0700

    Merge SDK v10.0

commit 5f74a18
Author: j5155 <[email protected]>
Date:   Tue Aug 27 14:18:09 2024 -0800

    improve comments

commit 22aa137
Author: j5155 <[email protected]>
Date:   Sun Aug 11 17:38:02 2024 -0800

    use corrected driver

commit e94d726
Author: j5155 <[email protected]>
Date:   Wed Aug 7 17:49:13 2024 -0800

    update to 9.2, use official driver

commit 97eccbb
Merge: e90979d af672c7
Author: j5155 <[email protected]>
Date:   Sun Jul 28 22:37:43 2024 -0800

    update to 9.2 (UNTESTED)

commit af672c7
Author: Ryan Brott <[email protected]>
Date:   Sun Jul 21 21:55:34 2024 -0700

    Bump RR

commit d7f1453
Merge: 416ba0d 6ce588f
Author: Ryan Brott <[email protected]>
Date:   Sun Jul 21 21:14:41 2024 -0700

    Merge FTC SDK v9.2

commit e90979d
Author: j5155 <[email protected]>
Date:   Sat Jul 6 15:27:01 2024 -0800

    read pos and vel at the same time, massively improving loop times

commit 4cf4292
Author: j5155 <[email protected]>
Date:   Mon Jul 1 16:02:33 2024 -0800

    actually update the pose

commit 5a39761
Author: j5155 <[email protected]>
Date:   Sun Jun 30 22:49:52 2024 -0800

    Add tuners and docs

commit c42e2fd
Author: j5155 <[email protected]>
Date:   Sun Jun 23 20:13:01 2024 -0800

    fix OTOSDrive to actually write lastpose + logging

commit 8663bfb
Author: j5155 <[email protected]>
Date:   Sun Jun 23 20:09:56 2024 -0800

    various fixes

commit 1a35281
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:45:01 2024 -0800

    actually use otosdrive as tuning drive

commit 9500d7b
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:43:58 2024 -0800

    initial support for OTOS as encoder for tuningopmodes (not used for rotation yet, still depends on chub imu)

commit f02ae49
Author: j5155 <[email protected]>
Date:   Mon Jun 3 23:30:25 2024 -0800

    update library and deal with manual pose setting

commit 4f5d8c2
Author: j5155 <[email protected]>
Date:   Mon Jun 3 22:36:49 2024 -0800

    use library for functions instead of hardcoding into quickstart

commit e53b9c8
Author: j5155 <[email protected]>
Date:   Mon Jun 3 22:24:08 2024 -0800

    add dependency on forked library and change drive and localizers to use it

commit 168bb60
Author: j5155 <[email protected]>
Date:   Sat Jun 1 20:53:47 2024 -0800

    add initial drive based on apriltagdrive and modify LocalizationTest to use it

commit 416ba0d
Author: Ryan Brott <[email protected]>
Date:   Sat Mar 16 08:58:51 2024 -0700

    Bump RR

commit 6b35895
Author: Ryan Brott <[email protected]>
Date:   Sat Mar 2 22:56:53 2024 -0800

    Use new params

commit 03d95d7
Author: Ryan Brott <[email protected]>
Date:   Tue Feb 20 22:07:37 2024 -0800

    Rename `LazyImu` drive members

    Also makes sure the mecanum drive localizer fetches the IMU
    on construction.

commit 9d2cd48
Author: Ryan Brott <[email protected]>
Date:   Mon Feb 19 14:23:43 2024 -0800

    Stop reading localizer inputs on construction

    This ensures that any motion between construction and first update
    will be ignored (this is usually the period between init and start
    of an op mode). If teams want to track pose during that period,
    they can call `updatePoseEstimate()` explicitly. This matches the
    behavior of the 0.5.x localizers (without the annoying reset on
    every pose estimate set).

    The localizers also now log much more data to help troubleshoot
    localization issues in the future.

commit ecc49aa
Merge: 8e84495 1da45a3
Author: Ryan Brott <[email protected]>
Date:   Sat Feb 17 10:51:28 2024 -0800

    Merge SDK v9.1

commit 8e84495
Author: Ryan Brott <[email protected]>
Date:   Wed Jan 31 17:52:54 2024 -0800

    Add drawing class

commit 01d55d7
Author: Ryan Brott <[email protected]>
Date:   Tue Jan 30 22:10:22 2024 -0800

    Draw robot in LocalizationTest (fixes FIRST-Tech-Challenge#360)

commit c6ef075
Author: Ryan Brott <[email protected]>
Date:   Thu Jan 25 22:27:07 2024 -0800

    Update to lazy IMU (fixes FIRST-Tech-Challenge#346)

commit 5cf1596
Author: Ryan Brott <[email protected]>
Date:   Sun Jan 14 09:09:14 2024 -0800

    Set better default `lateralInPerTick`

commit 7381cb6
Author: Ryan Brott <[email protected]>
Date:   Sun Dec 24 14:40:51 2023 -0800

    Bump RR FTC

commit a01ac85
Author: Ryan Brott <[email protected]>
Date:   Sun Dec 24 13:30:20 2023 -0800

    Better spline test

commit a890105
Author: Ryan Brott <[email protected]>
Date:   Sat Dec 23 13:23:40 2023 -0800

    Add encoder reverse directions to dead wheel localizers

    Direction doesn't matter for position regression, but it does matter
    for `inPerTick`, `lateralInPerTick`. And everything makes more sense
    if the directions are correct.

commit ce080b0
Author: Ryan Brott <[email protected]>
Date:   Wed Dec 20 18:10:52 2023 -0800

    Always throw `RuntimeException`

    The FTC SDK only catches `Exception` thrown by user code,
    so switch all throwables to `RuntimeException`.

commit e4cff73
Author: Ryan Brott <[email protected]>
Date:   Sun Dec 17 12:45:19 2023 -0800

    Bump RR FTC

commit 263100d
Author: Ryan Brott <[email protected]>
Date:   Tue Dec 12 09:48:38 2023 -0800

    Bump RR

commit 02d8ea7
Author: Ryan Brott <[email protected]>
Date:   Sat Dec 9 09:17:20 2023 -0800

    Move drive encoder reversal before first get

    Changing the direction of an encoder after reading it the first time
    will create a potentially massive delta in the first odometry update.

commit 01453c2
Author: Ryan Brott <[email protected]>
Date:   Tue Dec 5 23:18:58 2023 -0800

    Add TODO comments

commit d586fc3
Author: Ryan Brott <[email protected]>
Date:   Sun Nov 26 14:28:01 2023 -0800

    Bump RR FTC

commit 416cab6
Author: Ryan Brott <[email protected]>
Date:   Sun Nov 26 13:54:10 2023 -0800

    Log power commands

commit 7ad781b
Author: Ryan Brott <[email protected]>
Date:   Sun Nov 26 11:46:46 2023 -0800

    Replace `log()` with `toDouble()`

commit 79d6297
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 22:59:36 2023 -0800

    Add more debug messages

commit 0e66ff3
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 20:32:35 2023 -0800

    Add missing imports

commit ddfb994
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 20:31:08 2023 -0800

    Localization test degrees heading

commit df17f93
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 00:21:34 2023 -0800

    Fix yaml

commit a6ed85a
Merge: d955adf 071e405
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 00:13:42 2023 -0800

    Merge branch 'master' of github.com:acmerobotics/road-runner-quickstart

commit d955adf
Author: Ryan Brott <[email protected]>
Date:   Mon Nov 20 00:13:30 2023 -0800

    Add bug template

commit 071e405
Author: j5155 <[email protected]>
Date:   Sun Nov 12 20:55:25 2023 -0900

    Require odometry wheel positions to run ManualFeedbackTuner (FIRST-Tech-Challenge#292)

commit e69e475
Author: Ryan Brott <[email protected]>
Date:   Sun Nov 5 16:56:40 2023 -0800

    Bump dash

commit e291d59
Author: Ryan Brott <[email protected]>
Date:   Sat Oct 21 14:19:36 2023 -0700

    Ensure 2 samples when drawing paths

commit a6b4dbe
Author: Ryan Brott <[email protected]>
Date:   Tue Oct 17 22:48:23 2023 -0700

    Replace rear with back

commit 42246e0
Author: Ryan Brott <[email protected]>
Date:   Sun Oct 15 09:10:55 2023 -0700

    Drive view use feedforward factory (fixes FIRST-Tech-Challenge#258)

commit 57db0dc
Author: Ryan Brott <[email protected]>
Date:   Tue Oct 10 14:49:06 2023 -0700

    Pipe feedforward into drive view factory

commit 1b1197d
Author: Ryan Brott <[email protected]>
Date:   Mon Oct 9 22:07:21 2023 -0700

    Re-create feedforward objects

commit 2584ce8
Author: Ryan Brott <[email protected]>
Date:   Sun Oct 8 15:43:48 2023 -0700

    Add more dash tunables

commit 6115d03
Author: Ryan Brott <[email protected]>
Date:   Sun Oct 8 15:35:35 2023 -0700

    Bump RR FTC

commit fc9b93a
Author: Ryan Brott <[email protected]>
Date:   Sat Oct 7 09:58:00 2023 -0700

    Fix feedback tuner start

commit 4ff7513
Author: Ryan Brott <[email protected]>
Date:   Sat Oct 7 09:39:20 2023 -0700

    Remove outdated TODO

commit dd6d43d
Author: Ryan Brott <[email protected]>
Date:   Sun Oct 1 15:54:38 2023 -0700

    Change default `par1YTicks`

    This avoids populating `NaN` in odometry-derived values.

commit 219e078
Merge: 7cce1c4 f326c0d
Author: Ryan Brott <[email protected]>
Date:   Sat Sep 30 17:08:15 2023 -0700

    Merge SDK v9.0.1

commit 7cce1c4
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 24 15:29:43 2023 -0700

    Apply heading velocity correction in localizer

commit 629c103
Author: Ryan Brott <[email protected]>
Date:   Fri Sep 22 18:26:54 2023 -0700

    Bump dash

commit 973ca84
Author: Ryan Brott <[email protected]>
Date:   Tue Sep 19 22:20:41 2023 -0700

    Bump RR FTC

commit 5f2fcaf
Author: Ryan Brott <[email protected]>
Date:   Mon Sep 18 22:51:19 2023 -0700

    Dead wheel overflow encoders by default

commit 334252c
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 17 16:12:05 2023 -0700

    Bump RR FTC

commit 3c2d545
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 17 09:36:46 2023 -0700

    Bump deps

commit 2f2c6e6
Author: Ryan Brott <[email protected]>
Date:   Fri Sep 15 18:45:36 2023 -0700

    Rename dead wheel params

commit dc1b43e
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 10 09:12:50 2023 -0700

    Remove mecanum forward kinematics rotation factors

commit b12b121
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 10 09:12:35 2023 -0700

    Add more unit comments

commit 5cd5bdd
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 10 09:12:20 2023 -0700

    Finish tank params refactor

commit a474732
Merge: 76e5f3e f3a5a54
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 10 07:47:04 2023 -0700

    Merge FTC SDK v9.0

commit 76e5f3e
Author: Ryan Brott <[email protected]>
Date:   Wed Sep 6 20:34:57 2023 -0700

    Bump RR FTC

commit 1486131
Author: Ryan Brott <[email protected]>
Date:   Tue Sep 5 07:17:22 2023 -0700

    Bump RR FTC

commit 7c43265
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 3 21:54:12 2023 -0700

    Bump RR FTC

commit 5c0fd0b
Author: Ryan Brott <[email protected]>
Date:   Sun Sep 3 21:49:49 2023 -0700

    Update README.md

commit e002d64
Author: Ryan Brott <[email protected]>
Date:   Sat Aug 26 10:41:44 2023 -0700

    Use RR FTC module

commit 9fa2815
Author: Ryan Brott <[email protected]>
Date:   Sat Aug 26 10:09:43 2023 -0700

    Remove tuning web files

commit 3fc724e
Merge: 9db94c0 660a2f6
Author: Ryan Brott <[email protected]>
Date:   Sat Aug 19 19:30:45 2023 -0700

    Merge SDK v8.2

commit 9db94c0
Author: Ryan Brott <[email protected]>
Date:   Sat Aug 19 19:29:18 2023 -0700

    Move quickstart files to separate module

commit 0c14630
Author: Ryan Brott <[email protected]>
Date:   Wed Jul 19 23:13:58 2023 -0700

    Bump RR

commit 1ae2be3
Author: Ryan Brott <[email protected]>
Date:   Sat May 20 22:59:50 2023 -0700

    Add localization test

    Also shorten some longer method names.

commit 491bb42
Author: Ryan Brott <[email protected]>
Date:   Wed Apr 5 22:22:16 2023 -0700

    Fix tick units

commit 5fbb278
Author: Ryan Brott <[email protected]>
Date:   Mon Mar 27 22:25:28 2023 -0700

    Add link to quickstart2 docs (fixes FIRST-Tech-Challenge#217)

commit 1c857f2
Author: Ryan Brott <[email protected]>
Date:   Fri Mar 10 01:22:48 2023 -0800

    Bump dash

commit db869f3
Author: Ryan Brott <[email protected]>
Date:   Mon Mar 6 22:50:07 2023 -0800

    Adapt regression to signals

commit 332704b
Author: Ryan Brott <[email protected]>
Date:   Sun Mar 5 21:01:03 2023 -0800

    Record signals on Java side

commit 47151cb
Author: Ryan Brott <[email protected]>
Date:   Sun Mar 5 18:32:16 2023 -0800

    Correct velocity in ManualFeedforwardTuner

commit 98cbe1e
Author: Ryan Brott <[email protected]>
Date:   Thu Mar 2 00:23:39 2023 -0800

    Fix drive powers

commit 80ea431
Author: Ryan Brott <[email protected]>
Date:   Thu Mar 2 00:16:35 2023 -0800

    Regression improvements

commit 9651735
Author: Ryan Brott <[email protected]>
Date:   Wed Mar 1 23:32:02 2023 -0800

    No intercept regression

commit b4af817
Author: Ryan Brott <[email protected]>
Date:   Wed Mar 1 21:46:32 2023 -0800

    Use IMU heading in mecanum drive localizer (fixes FIRST-Tech-Challenge#215)

commit 77dbd7f
Author: Ryan Brott <[email protected]>
Date:   Thu Feb 2 19:48:52 2023 -0800

    Move logging stuff

commit b617f87
Author: Ryan Brott <[email protected]>
Date:   Thu Feb 2 01:57:04 2023 -0800

    Add logging behind the scenes

commit 8a88605
Author: Ryan Brott <[email protected]>
Date:   Sat Jan 28 18:32:35 2023 -0800

    Add setDirection() to Encoder interface (fixes FIRST-Tech-Challenge#203)

commit 970625f
Author: Ryan Brott <[email protected]>
Date:   Thu Jan 19 09:29:24 2023 -0800

    Migrate to IMU interface

commit b38e9e6
Author: Ryan Brott <[email protected]>
Date:   Thu Jan 5 18:04:04 2023 -0800

    Bump dash

commit 4fc5d64
Author: Ryan Brott <[email protected]>
Date:   Mon Jan 2 16:59:15 2023 -0800

    Bump RR

commit d0b06e2
Author: Ryan Brott <[email protected]>
Date:   Sun Jan 1 22:40:18 2023 -0800

    Update for new actions

commit 2d9c57a
Author: Ryan Brott <[email protected]>
Date:   Tue Dec 13 23:18:46 2022 -0800

    Fix action drawing

commit 45d77b8
Author: Ryan Brott <[email protected]>
Date:   Wed Dec 7 22:12:43 2022 -0800

    Bump dash

commit 4a3417c
Merge: 1b7f3ca 0879b47
Author: Ryan Brott <[email protected]>
Date:   Wed Dec 7 22:11:56 2022 -0800

    Merge SDK v8.1.1

commit 1b7f3ca
Author: Ryan Brott <[email protected]>
Date:   Tue Dec 6 21:16:31 2022 -0800

    Fix DriveView setDrivePowers()

commit 7c9fd6c
Author: Ryan Brott <[email protected]>
Date:   Tue Dec 6 21:15:01 2022 -0800

    Hopefully fix track width regression

commit b44d5e0
Author: Ryan Brott <[email protected]>
Date:   Mon Dec 5 22:00:23 2022 -0800

    Fix CW turns

commit 6f6a0c9
Merge: b721133 501c7c0
Author: Ryan Brott <[email protected]>
Date:   Fri Nov 25 10:08:20 2022 -0800

    Merge SDK v8.1

commit b721133
Author: abidingabi <[email protected]>
Date:   Tue Nov 1 22:22:06 2022 -0400

    Make Data fields in Logger OpModes public (FIRST-Tech-Challenge#179)

commit 57cc92b
Author: abidingabi <[email protected]>
Date:   Sun Oct 30 17:08:01 2022 -0400

    Remove AccelLogger from TuningOpModes (FIRST-Tech-Challenge#177)

commit 05056c0
Author: Ryan Brott <[email protected]>
Date:   Wed Sep 28 22:33:54 2022 -0700

    Bump dash

commit 67b0165
Author: Ryan Brott <[email protected]>
Date:   Thu Sep 22 08:11:23 2022 -0700

    Add initial quickstart files
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danieldb committed Dec 4, 2024
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33 changes: 33 additions & 0 deletions .github/ISSUE_TEMPLATE/bug.yml
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name: Bug Report
description: File a bug report
body:
- type: input
id: version
attributes:
label: RR FTC Version
description: Open `TeamCode/build.gradle` and read the version from the
`implementation "com.acmerobotics.roadrunner:ftc:LIBRARY_VERSION_HERE"`
line
placeholder: 0.1.8
validations:
required: true
- type: textarea
id: repro
attributes:
label: Observed Behavior
validations:
required: true
- type: textarea
id: tuning
attributes:
label: Tuning Files
description: Click the "Download" button on the tuning page and attach the file
(if applicable)
- type: textarea
id: logs
attributes:
label: Robot Logs
description: Download the relevant logs from `http://192.168.43.1:8080/logs` and
attach them here


5 changes: 4 additions & 1 deletion .gitignore
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Expand Up @@ -78,4 +78,7 @@ lint/intermediates/
lint/generated/
lint/outputs/
lint/tmp/
# lint/reports/
# lint/reports/

.DS_Store
/.idea
220 changes: 152 additions & 68 deletions MeepMeepTesting/src/main/java/com/example/meepmeeptesting/MeepMeepPaths.java
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Expand Up @@ -14,72 +14,156 @@
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepPaths {
public static void main(String[] args) {
// Declare a MeepMeep instance
// With a field size of 800 pixels
MeepMeep meepMeep = new MeepMeep(800);

RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
.setDimensions(12, 15)
// Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
.setConstraints(60, 60, Math.toRadians(600), Math.toRadians(380), 15)
.build();
DriveShim drive = myBot.getDrive();

myBot.runAction(drive.actionBuilder(new Pose2d(-9,63,PI/2))
.setTangent(-PI/2)
.splineTo(new Vector2d(-12, 32), -PI/2)

.setTangent(PI/2)
.splineTo(new Vector2d(-34, 40), 11*PI/8)

.turnTo(3*PI/4)

.setTangent(-PI/4 + PI)
.splineTo(new Vector2d(-42, 40), 11*PI/8)

.turnTo(3*PI/4)

.setTangent(-PI/4 + PI)
.splineTo(new Vector2d(-50, 40), 11*PI/8)

.turnTo(3*PI/4)

.setTangent(-PI/4)
.splineTo(new Vector2d(-36,63), PI/2)

// pick up wall specimen 1
.setTangent(-PI/2)
.splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0001), -PI/2)

.setTangent(PI/2)
.splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0002), PI/2)

.setTangent(-PI/2)
.splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0003), -PI/2)

.setTangent(PI/2)
.splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0004), PI/2)

.setTangent(-PI/2)
.splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0005), -PI/2)

.setTangent(PI/2)
.splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0006), PI/2)

.setTangent(-PI/2)
.splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.007), -PI/2)

.setTangent(PI/2)
.splineToLinearHeading(new Pose2d(-36,63, PI), PI/2)
.build()

);

meepMeep.setBackground(MeepMeep.Background.FIELD_INTO_THE_DEEP_JUICE_DARK)
.setDarkMode(true)
.setBackgroundAlpha(0.95f)
.addEntity(myBot)
.start();
}
public static void main(String[] args) {
// Declare a MeepMeep instance
// With a field size of 800 pixels
MeepMeep meepMeep = new MeepMeep(800);

RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
.setDimensions(12, 15)
// Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
.setConstraints(60, 60, Math.toRadians(600), Math.toRadians(380), 15)
.build();
DriveShim drive = myBot.getDrive();

myBot.runAction(new SequentialAction(
// hob.actionMacro(SPECIMEN_BEFORE_DEPOSIT),
drive.actionBuilder(new Pose2d(-9, 63, PI / 2)).setTangent(-PI / 2)
.splineTo(new Vector2d(-12, 32), -PI / 2).build(),
// place preload specimen
// hob.actionMacro(SPECIMEN_DEPOSIT_AND_RESET),

// run to before sweepage
// hob.actionMacro(SAMPLE_SWEEP_UP),
drive.actionBuilder(new Pose2d(-12, 32, PI / 2)).setTangent(PI / 2)
.splineTo(new Vector2d(-34, 40), 11 * PI / 8).build(),
// run sweepage for first sample
// hob.actionMacro(SAMPLE_SWEEP_DOWN),
drive.actionBuilder(new Pose2d(-34, 40, 11 * PI / 8)).turnTo(3 * PI / 4).build(),
// hob.actionMacro(SAMPLE_SWEEP_UP),
drive.actionBuilder(new Pose2d(-34, 40, 3 * PI / 4)).setTangent(-PI / 4 + PI)
.splineTo(new Vector2d(-42, 40), 11 * PI / 8).build(),
// run sweepage for second sample
// hob.actionMacro(SAMPLE_SWEEP_DOWN),
drive.actionBuilder(new Pose2d(-42, 40, 11 * PI / 8)).turnTo(3 * PI / 4).build(),
// hob.actionMacro(SAMPLE_SWEEP_UP),
drive.actionBuilder(new Pose2d(-42, 40, 3 * PI / 4)).setTangent(-PI / 4 + PI)
.splineTo(new Vector2d(-50, 40), 11 * PI / 8).build(),
// run sweepage for third sample
// hob.actionMacro(SAMPLE_SWEEP_DOWN),
drive.actionBuilder(new Pose2d(-50, 40, 11 * PI / 8)).turnTo(3 * PI / 4).build(),
// retract sweeper
// hob.actionMacro(EXTENDO_FULL_IN),

// go to wall specimen 1
// hob.actionMacro(SPECIMEN_BEFORE_PICKUP),
drive.actionBuilder(new Pose2d(-50, 40, 3 * PI / 4)).setTangent(-PI / 4)
.splineTo(new Vector2d(-36, 63), PI / 2).build(),
// pick up wall specimen 1
// hob.actionMacro(SPECIMEN_PICKUP_AND_BEFORE_DEPOSIT),
drive.actionBuilder(new Pose2d(-36, 63, -PI / 2)).setTangent(-PI / 2)
.splineToLinearHeading(new Pose2d(-12, 32, PI / 2 - 0.0001), -PI / 2)
.build(),
// deposit wall specimen 1

// hob.actionMacro(SPECIMEN_DEPOSIT_AND_RESET),
// go to wall specimen 2
drive.actionBuilder(new Pose2d(-12, 32, PI / 2 - 0.0001)).setTangent(PI / 2)
.splineToLinearHeading(new Pose2d(-36, 63, -PI / 2 - 0.0002), PI / 2)
.build(),
// pick up wall specimen 2
// hob.actionMacro(SPECIMEN_PICKUP_AND_BEFORE_DEPOSIT),
drive.actionBuilder(new Pose2d(-36, 63, -PI / 2 - 0.0002)).setTangent(-PI / 2)
.splineToLinearHeading(new Pose2d(-12, 32, PI / 2 - 0.0003), -PI / 2)
.build(),
// deposit wall specimen 2
// hob.actionMacro(SPECIMEN_DEPOSIT_AND_RESET),

// go to wall specimen 3
drive.actionBuilder(new Pose2d(-12, 32, PI / 2 - 0.0003)).setTangent(PI / 2)
.splineToLinearHeading(new Pose2d(-36, 63, -PI / 2 - 0.0004), PI / 2)
.build(),
// pick up wall specimen 3
// hob.actionMacro(SPECIMEN_PICKUP_AND_BEFORE_DEPOSIT),
drive.actionBuilder(new Pose2d(-36, 63, -PI / 2 - 0.0004)).setTangent(-PI / 2)
.splineToLinearHeading(new Pose2d(-12, 32, PI / 2 - 0.0005), -PI / 2)
.build(),
// deposit wall specimen 3
// hob.actionMacro(SPECIMEN_DEPOSIT_AND_RESET),

// go to wall specimen 4
drive.actionBuilder(new Pose2d(-12, 32, PI / 2 - 0.0005)).setTangent(PI / 2)
.splineToLinearHeading(new Pose2d(-36, 63, -PI / 2 - 0.0006), PI / 2)
.build(),
// pick up wall specimen 4
// hob.actionMacro(SPECIMEN_PICKUP_AND_BEFORE_DEPOSIT),
drive.actionBuilder(new Pose2d(-36, 63, -PI / 2 - 0.0006)).setTangent(-PI / 2)
.splineToLinearHeading(new Pose2d(-12, 32, PI / 2 - 0.007), -PI / 2)
.build(),
// deposit wall specimen 4
// hob.actionMacro(SPECIMEN_DEPOSIT_AND_RESET),

// park and make bot ready for tele
drive.actionBuilder(new Pose2d(-12, 32, PI / 2 - 0.007)).setTangent(PI / 2)
.splineToLinearHeading(new Pose2d(-36, 63, PI), PI / 2).build()
// hob.actionMacro(FULL_IN)
));
/*
* myBot.runAction(drive.actionBuilder(new Pose2d(-9,63,PI/2))
* .setTangent(-PI/2)
* .splineTo(new Vector2d(-12, 32), -PI/2)
*
* .setTangent(PI/2)
* .splineTo(new Vector2d(-34, 40), 11*PI/8)
*
* .turnTo(3*PI/4)
*
* .setTangent(-PI/4 + PI)
* .splineTo(new Vector2d(-42, 40), 11*PI/8)
*
* .turnTo(3*PI/4)
*
* .setTangent(-PI/4 + PI)
* .splineTo(new Vector2d(-50, 40), 11*PI/8)
*
* .turnTo(3*PI/4)
*
* .setTangent(-PI/4)
* .splineTo(new Vector2d(-36,63), PI/2)
*
* // pick up wall specimen 1
* .setTangent(-PI/2)
* .splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0001), -PI/2)
*
* .setTangent(PI/2)
* .splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0002), PI/2)
*
* .setTangent(-PI/2)
* .splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0003), -PI/2)
*
* .setTangent(PI/2)
* .splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0004), PI/2)
*
* .setTangent(-PI/2)
* .splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.0005), -PI/2)
*
* .setTangent(PI/2)
* .splineToLinearHeading(new Pose2d(-36,63, -PI/2-0.0006), PI/2)
*
* .setTangent(-PI/2)
* .splineToLinearHeading(new Pose2d(-12, 32, PI/2-0.007), -PI/2)
*
* .setTangent(PI/2)
* .splineToLinearHeading(new Pose2d(-36,63, PI), PI/2)
* .build()
*
* );
*/

meepMeep.setBackground(MeepMeep.Background.FIELD_INTO_THE_DEEP_JUICE_DARK)
.setDarkMode(true)
.setBackgroundAlpha(0.95f)
.addEntity(myBot)
.start();
}
}
9 changes: 9 additions & 0 deletions PINPOINT_INSTRUCTIONS.md
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Tuning steps are mostly the same as https://rr.brott.dev/docs/v1-0/tuning/
differences:
ensure you configure the Pinpoint in hardwaremap as pinpoint by default or change in PinpointDrive
Leave inPerTick at 1.0 in MecanumDrive and skip ForwardPushTest; instead configure encoder resolution in PinpointDrive to one of the presets for gobilda odometry
Also, ensure that you use DeadWheelDirectionDebugger and properly reverse the wheels in PinpointDrive
Also change the drive class in TuningOpModes, SplineTest, and your op modes to PinpointDrive
Then you can move on with tuning in https://rr.brott.dev/docs/v1-0/tuning/ as normal.

TODO: expand these docs
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