Code

Feature/mtp integral control#134

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karmanyaahm merged 135 commits intodevelopVEXU-GHOST/VEXU_GHOST:developfrom feature/mtp_integral_controlVEXU-GHOST/VEXU_GHOST:feature/mtp_integral_controlCopy head branch name to clipboardMar 8, 2025

+2,696-818

Commits

Commits on Jan 1, 1970

• auton check in

  

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• auto checkpoint 2

  

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• comitting existing auton

  

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• broke but better

  

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

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• THIS IS WORKING

  

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Commits on Feb 18, 2025

• fix bug

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• fixes odometry unit bug

  

  Omega Jerry

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Commits on Feb 19, 2025

• moves purepursuit to boomerang node

  JakeWendling

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• added way to get variables from bt

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• gets cmd velocity from bt for publishing

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• init intake code

  MaxxWilson

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• fixes runtime error with bt xml

  

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• Merge branch 'hotfix/move-purepursuit-to-bt' into hw-test/move-to-pose-tuning-2-18-25

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• Initial build with reset world pose for ekf and pf

  melissajcruz

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• new intake sensing

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• update world rviz config

  

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• tuning

  

  Omega Jerry

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• adds bitecmd bt nodes

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• re-enable color classifier

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• Merge branch 'feature/bt-nodes-tank' into hw-test/move-to-pose-tuning-2-18-25

  

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• Pulls from yaml

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• Merge branch 'initial-pose-refactor' into hw-test/move-to-pose-tuning-2-18-25

  

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• lint

  

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• readded mtp viz

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• refactor set pose topic

  

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• adds io port map to bt

  JakeWendling

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• smash dem stax

  

  Omega Jerry

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• adds driving backwards (untested)

  JakeWendling

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• set transient local settings

  

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• fix transient local in ekf

  

  Omega Jerry

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• adds shutoff node and clamp node

  JakeWendling

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• proto hook conveyor code

  MaxxWilson

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• tuning bt params

  

  Omega Jerry

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• intake fixes

  MaxxWilson

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• simplify intake for debugging

  MaxxWilson

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• intake push 2

  MaxxWilson

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• fixes angle threshold when going backwards

  

  Omega Jerry

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• intermediate push 2

  MaxxWilson

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  MaxxWilson

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• good intake auto rejection on hardware

  

  Omega Jerry

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• refactor updateIntake

  MaxxWilson

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• comments

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• lint

  MaxxWilson

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• remove unused param

  MaxxWilson

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• adds velocity threshold to boomerang mtp

  JakeWendling

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Commits on Feb 20, 2025

• adds new auton path to follow

  JakeWendling

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• adds intake bt

  JakeWendling

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• adds some autons

  

  Omega Jerry

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• adjusted bt nodes to actions

  JakeWendling

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• added goal rush io

  JakeWendling

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• adds mirroring for mtp

  JakeWendling

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• adds goal rush node

  JakeWendling

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• fixed type for bt nodes

  

  Omega Jerry

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• adds setmirrored node

  JakeWendling

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  7e2ac53

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• added angle correcting at end of mtp

  JakeWendling

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  df4ad13

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• changed pos error to use final pose in boomerang

  JakeWendling

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• adds button for goalrush

  JakeWendling

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• adds color sensor to intake node

  JakeWendling

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Commits on Feb 21, 2025

• fixes angle correction when driving backwards

  JakeWendling

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• lets fucking cook baby

  

  Omega Jerry

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• adds shutdown buttons

  JakeWendling

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• adds conveyor node

  JakeWendling

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• scored 3 rings

  

  Omega Jerry

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• karmanyah script

  

  Omega Jerry

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• auto works, needs corner tuning, speed up goal rush

  

  Omega Jerry

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• adds mirrored to intake

  JakeWendling

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• commit latest

  

  Omega Jerry

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• change init pose

  

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• Merge branch 'hw-test/move-to-pose-tuning-2-18-25' of github.com:VEXU-GHOST/VEXU_GHOST into hw-test/move-to-pose-tuning-2-18-25

  

  Omega Jerry

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• tweak start position

  

  Omega Jerry

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  9f13844

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• fixes shutoffnode to not return running

  JakeWendling

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• adds try catch for bt stuff

  JakeWendling

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  4e582f2

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• adds shutoff motors at end of mtp

  JakeWendling

  committed
  a373eae

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• fixes exception printing

  JakeWendling

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• check in

  

  Omega Jerry

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Commits on Feb 22, 2025

• THIS IS WORKING

  

  Omega Jerry

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• locked in gains. Kd must be reduced due to backlash in drivetrain

  

  Omega Jerry

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• Might be cookin

  

  Omega Jerry

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• reenables lidar

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• adds second bt with no negative corner

  JakeWendling

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Commits on Feb 25, 2025

• removes nocorner tree

  JakeWendling

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• attempt at fixing backwards angle in mtpboomerang

  JakeWendling

  committed
  0111526

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Commits on Feb 26, 2025

• split bt into multiple files

  JakeWendling

  committed
  2ccb2e4

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• adds wait command and neutral stake button/motors

  JakeWendling

  committed
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• yo

  

  Omega Jerry

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• comp stuff

  

  Omega Jerry

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Commits on Mar 1, 2025

• adds second set of pd gains for within threshold

  JakeWendling

  committed
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• removing commented out code

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  MaxxWilson

  committed
  ea0d2c2

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• lint

  MaxxWilson

  committed
  1561d25

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• QoL in tank pd

  MaxxWilson

  committed
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• current limiting reproduced from BLRS Wiki

  MaxxWilson

  committed
  4283d6a

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• more edge cases

  MaxxWilson

  committed
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• Adds current invertor method w tests

  MaxxWilson

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  db4c800

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• update V5 to set current limits from smallest to largest

  MaxxWilson

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• set current limits to zero before setting them properly

  MaxxWilson

  committed
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• adds dynamic current limiting to tank_robot_plugin (untested)

  MaxxWilson

  committed
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• prelim neutral stake code

  MaxxWilson

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  6c05fb7

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• test code for current lim

  MaxxWilson

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  7de73f8

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• change port mapping

  MaxxWilson

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• move jetson to laptop

  

  Alpha Jerry

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Commits on Mar 2, 2025

• cleanup current limit inversion and adds more unit testing

  MaxxWilson

  committed
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• Merge branch 'feature/adds-neutral-stake-mech-control' of github.com:VEXU-GHOST/VEXU_GHOST into feature/adds-neutral-stake-mech-control

  MaxxWilson

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• assaulting edge cases

  MaxxWilson

  committed
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• Working on hardware!

  

  Alpha Jerry

  committed
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• adds integral control

  JakeWendling

  committed
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• fixes integral control being too large

  JakeWendling

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• Merge remote-tracking branch 'origin/feature/adds-neutral-stake-mech-control' into feature/mtp_integral_control

  JakeWendling

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  668d72e

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• fixes build error

  JakeWendling

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  f157e1c

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• fixes backwards driving

  

  Alpha Jerry

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Commits on Mar 4, 2025

• first attempt

  JakeWendling

  committed
  0166c3a

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• adds code for bezier mtp

  JakeWendling

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• Merge remote-tracking branch 'origin/feature/bezier-curve' into feature/mtp_integral_control

  

  Alpha Jerry

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• bezier curve fixed for backwards driving

  

  Alpha Jerry

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Commits on Mar 5, 2025

• changes old stuff to new stuff

  

  Alpha Jerry

  committed
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• changed ring sorting to be always active in auton

  JakeWendling

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• Merge branch 'hotfix/ring-sorting' into feature/mtp_integral_control

  JakeWendling

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• 3/4 tuning

  

  Alpha Jerry

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Commits on Mar 6, 2025

• intake working 3/5

  

  Alpha Jerry

  committed
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• mirrored works

  

  Alpha Jerry

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  f9dd7cc

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• adds middle goalrush

  

  Alpha Jerry

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Commits on Mar 7, 2025

• adds autons and tunes turning

  

  Alpha Jerry

  committed
  4425948

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• adds neutralstake to auto for testing

  JakeWendling

  committed
  f40154b

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• fix neutral stake motor config for new design

  

  Omega Jerry

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• changes color target funcitonality

  

  Alpha Jerry

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• final changes before goalrush

  

  Omega Jerry

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• adds new goalrush

  JakeWendling

  committed
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• Merge branch 'develop' into feature/mtp_integral_control

  karmanyaahm

  committed
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• Merge remote-tracking branch 'upstream/develop' into feature/mtp_integral_control

  karmanyaahm

  committed
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