Initial tuning/cleanup of 2022 localizer
This is based on some data collection off of the 2020 robot with the IMU
somewhat loosely mounted. Should behave reasonably--when the wheels are
not slipping, this currently tends to be less precise than traditional
methods, but otherwise behaves reasonably, and does handle substantial
wheel slip reasonably.
General changes:
* General tuning.
* Update some 2020 references to refer to 2022.
* Unwrap the encoder readings from the pico board.
* Make use of the pico timestamps.
Next steps are:
* Adding actual connectors for image corrections.
* Making the turret able to aim.
* Tuning this against driver-practice based IMU readings--use TODOs
in the code as a starting point.
Change-Id: Ie3effe2cbb822317f6cd4a201cce939517a4044f
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2022/control_loops/localizer/BUILD b/y2022/control_loops/localizer/BUILD
index 8e7ec95..f1bc2d1 100644
--- a/y2022/control_loops/localizer/BUILD
+++ b/y2022/control_loops/localizer/BUILD
@@ -66,7 +66,9 @@
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
"//frc971/zeroing:imu_zeroer",
+ "//frc971/zeroing:wrap",
"//y2020/vision/sift:sift_fbs",
+ "//y2022:constants",
"@org_tuxfamily_eigen//:eigen",
],
)
@@ -102,7 +104,7 @@
name = "localizer_replay",
srcs = ["localizer_replay.cc"],
data = [
- "//y2020:aos_config",
+ "//y2022:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
@@ -114,6 +116,6 @@
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
"//aos/events/logging:log_writer",
- "//y2020/control_loops/drivetrain:drivetrain_base",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
],
)