Dynamically add keepout zones during auto

[jkleiber]

Purpose
I am concerned that we will inadvertently run into the coral/algae stacks that are pre-staged near the alliance station wall during auto. To avoid running into this stuff, we should dynamically add in keepout zones around those things while in autonomous

Project Scope

• Add a keepout zone to the alliance side coral/algae pre-staged stacks when in auto
• Show it working in simulation

[linglejack06]

@jkleiber i think the easiest way to do this is just to add a few blocks around those in the navgrid. otherwise, this would involve creating a custom pathplanner that we'd have to figure out how to interface with advantage scope with.

the only problem is this would stay in teleop too. I don't see this being much of an issue though, as its such a small space that it won't really affect the paths efficiency

[avidraccoon]

Doesn't path planner have something for dynamic obstacles?

[avidraccoon]

https://pathplanner.dev/api/java/com/pathplanner/lib/pathfinding/Pathfinder.html#setDynamicObstacles(java.util.List,edu.wpi.first.math.geometry.Translation2d)

[linglejack06]

@avidraccoon good catch, but i think this method is not intended to be accessed in such a way, it looks like everytime we run a loop we would have to find the obstacles, pass them in, and pass the current pose in.

maybe im wrong though, im gonna look at advantage kits pathplanner

[linglejack06]

maybe we could just set the obstacles at beginning of auto and teleop, but i dont think it works that way, as i think the obstacles passed in are only ones that would affect the current path

[avidraccoon]

I looked at the code for LocalADStar you only need to set it once or if we want to move the obstacles.

[avidraccoon]

As long as we are not making a new Object each time

[linglejack06]

ok, thats helpful

…

On Tue, Feb 18, 2025 at 8:37 AM avidraccoon ***@***.***> wrote: As long as we are not making a new Object each time — Reply to this email directly, view it on GitHub <#101 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AZ7J5PWQARUYPIHVLNRN3RT2QMZR3AVCNFSM6AAAAABXKOJHMOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMNRVG42DGMZWGI> . You are receiving this because you were assigned.Message ID: ***@***.***> [image: avidraccoon]*avidraccoon* left a comment (team401/2025-Robot-Code#101) <#101 (comment)> As long as we are not making a new Object each time — Reply to this email directly, view it on GitHub <#101 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AZ7J5PWQARUYPIHVLNRN3RT2QMZR3AVCNFSM6AAAAABXKOJHMOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMNRVG42DGMZWGI> . You are receiving this because you were assigned.Message ID: ***@***.***>

[linglejack06]

@avidraccoon im still skeptical though, if we only need to set it once, why does the method even need the current robot pose On Tue, Feb 18, 2025 at 8:41 AM Jack Lingle ***@***.***> wrote:

…

ok, thats helpful On Tue, Feb 18, 2025 at 8:37 AM avidraccoon ***@***.***> wrote: > As long as we are not making a new Object each time > > — > Reply to this email directly, view it on GitHub > <#101 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AZ7J5PWQARUYPIHVLNRN3RT2QMZR3AVCNFSM6AAAAABXKOJHMOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMNRVG42DGMZWGI> > . > You are receiving this because you were assigned.Message ID: > ***@***.***> > [image: avidraccoon]*avidraccoon* left a comment > (team401/2025-Robot-Code#101) > <#101 (comment)> > > As long as we are not making a new Object each time > > — > Reply to this email directly, view it on GitHub > <#101 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AZ7J5PWQARUYPIHVLNRN3RT2QMZR3AVCNFSM6AAAAABXKOJHMOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMNRVG42DGMZWGI> > . > You are receiving this because you were assigned.Message ID: > ***@***.***> >

[avidraccoon]

To set the grid positions

[avidraccoon]

Because it internally converts the Pose to its corresponding Grid Position