Update zeroes, constants, and robot tunings from SFR
Change-Id: Id57c3bf52c140f74df2fd8df21fb1f2f19011d9e
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 49794be..62015a3 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -8,13 +8,13 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-05_2024-03-01_11-01-05.102438041.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-06_2024-03-01_11-01-20.409861949.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-0_cam-24-07_2024-03-01_11-01-32.895328333.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json' %}
},
{
"calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json' %}
@@ -23,23 +23,23 @@
"robot": {
{% set _ = intake_pivot_zero.update(
{
- "measured_absolute_position" : 3.2990161941868
+ "measured_absolute_position" : 3.26046279713726
}
) %}
"intake_constants": {{ intake_pivot_zero | tojson(indent=2)}},
"climber_constants": {
{% set _ = climber_zero.update(
{
- "measured_absolute_position" : 0.00260967415741875
+ "measured_absolute_position" : 0.0143601265619493
}
) %}
"zeroing_constants": {{ climber_zero | tojson(indent=2)}},
- "potentiometer_offset": {{ -0.935529777248618 + 1.83632555414775 + 0.0431080619919798 - 0.493015437796464 }}
+ "potentiometer_offset": {{ -0.935529777248618 + 1.83632555414775 + 0.0431080619919798 - 0.493015437796464 + 0.001602382648064 +0.00194716776942403 }}
},
"catapult_constants": {
{% set _ = catapult_zero.update(
{
- "measured_absolute_position" : 0.741253220327565
+ "measured_absolute_position" : 0.72750793510745
}
) %}
"zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
@@ -48,7 +48,7 @@
"altitude_constants": {
{% set _ = altitude_zero.update(
{
- "measured_absolute_position" : 0.16415931835676
+ "measured_absolute_position" : 0.1964
}
) %}
"zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
@@ -57,20 +57,20 @@
"turret_constants": {
{% set _ = turret_zero.update(
{
- "measured_absolute_position" : 0.138686395993591
+ "measured_absolute_position" : 0.210464386547614
}
) %}
"zeroing_constants": {{ turret_zero | tojson(indent=2)}},
- "potentiometer_offset": {{ -6.47164779835404 }}
+ "potentiometer_offset": {{ -6.47164779835404 - 0.0711209027239817 }}
},
"extend_constants": {
{% set _ = extend_zero.update(
{
- "measured_absolute_position" : 0.0314256815130559
+ "measured_absolute_position" : 0.135593394632399
}
) %}
"zeroing_constants": {{ extend_zero | tojson(indent=2)}},
- "potentiometer_offset": {{ -0.2574404033256 + 0.0170793439542 - 0.177097393974999 }}
+ "potentiometer_offset": {{ -0.2574404033256 + 0.0170793439542 - 0.177097393974999 + 0.3473623911879 }}
}
},
{% include 'y2024/constants/common.json' %}
diff --git a/y2024/constants/calib_files/calibration_imu-971-0_cam-24-07_2024-03-01_11-01-32.895328333.json b/y2024/constants/calib_files/calibration_imu-971-0_cam-24-07_2024-03-01_11-01-32.895328333.json
deleted file mode 100755
index d013e2a..0000000
--- a/y2024/constants/calib_files/calibration_imu-971-0_cam-24-07_2024-03-01_11-01-32.895328333.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
- "node_name": "imu",
- "team_number": 971,
- "intrinsics": [
- 647.822815,
- 0.0,
- 715.37616,
- 0.0,
- 647.799316,
- 494.638641,
- 0.0,
- 0.0,
- 1.0
- ],
- "fixed_extrinsics": {
- "data": [
- 1.0,
- -0.0,
- 0.0,
- 0.111049,
- 0.0,
- 0.258819,
- 0.965926,
- 0.263806,
- -0.0,
- -0.965926,
- 0.258819,
- 0.347685,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "dist_coeffs": [
- -0.2423,
- 0.057169,
- 0.000302,
- 0.000016,
- -0.005638
- ],
- "calibration_timestamp": 1708833147338466592,
- "camera_id": "24-07",
- "camera_number": 0,
- "reprojection_error": 1.362672
-}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json
index fbe79d5..c0ec0d8 100755
--- a/y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json
+++ b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json
@@ -41,6 +41,6 @@
],
"calibration_timestamp": 1708820514420797344,
"camera_id": "24-08",
- "camera_number": 1,
+ "camera_number": 0,
"reprojection_error": 1.591953
-}
\ No newline at end of file
+}
diff --git a/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-06_2024-03-01_11-01-20.409861949.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json
similarity index 61%
rename from y2024/constants/calib_files/calibration_orin1-971-1_cam-24-06_2024-03-01_11-01-20.409861949.json
rename to y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json
index 0eb10db..48da468 100755
--- a/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-06_2024-03-01_11-01-20.409861949.json
+++ b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -1.0,
- 0.0,
- 0.0,
- 0.111049,
- -0.0,
- -0.258819,
- -0.965926,
- -0.263806,
- 0.0,
- -0.965926,
- 0.258819,
- 0.347685,
+ -0.997807,
+ 0.015704,
+ -0.064302,
+ 0.134715,
+ 0.058111,
+ -0.25731,
+ -0.96458,
+ -0.273849,
+ -0.031694,
+ -0.966201,
+ 0.255833,
+ 0.295681,
0.0,
0.0,
0.0,
@@ -39,8 +39,8 @@
0.000005,
-0.006342
],
- "calibration_timestamp": 409229245444672,
+ "calibration_timestamp": 1709946962325390283,
"camera_id": "24-06",
- "camera_number": 1,
+ "camera_number": 0,
"reprojection_error": 1.344104
}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json b/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json
new file mode 100755
index 0000000..56072d4
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "orin1",
+ "team_number": 971,
+ "intrinsics": [
+ 647.822815,
+ 0.0,
+ 715.37616,
+ 0.0,
+ 647.799316,
+ 494.638641,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ 0.016995,
+ 0.002328,
+ 0.999853,
+ 0.35278,
+ 0.999839,
+ -0.005785,
+ -0.016981,
+ 0.237526,
+ 0.005745,
+ 0.999981,
+ -0.002426,
+ 0.387276,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.2423,
+ 0.057169,
+ 0.000302,
+ 0.000016,
+ -0.005638
+ ],
+ "calibration_timestamp": 1709946962325267121,
+ "camera_id": "24-07",
+ "camera_number": 1,
+ "reprojection_error": 1.362672
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json b/y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json
new file mode 100755
index 0000000..c1d4e60
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "imu",
+ "team_number": 971,
+ "intrinsics": [
+ 648.360168,
+ 0.0,
+ 729.818665,
+ 0.0,
+ 648.210327,
+ 641.988037,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ 0.999556,
+ -0.026613,
+ 0.013428,
+ 0.146979,
+ -0.006922,
+ 0.230925,
+ 0.972947,
+ 0.30388,
+ -0.028994,
+ -0.972608,
+ 0.230638,
+ 0.32572,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.255473,
+ 0.068444,
+ 0.000028,
+ -0.000078,
+ -0.008004
+ ],
+ "calibration_timestamp": 1709946962325066070,
+ "camera_id": "24-05",
+ "camera_number": 1,
+ "reprojection_error": 1.058851
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-05_2024-03-01_11-01-05.102438041.json b/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-05_2024-03-01_11-01-05.102438041.json
deleted file mode 100755
index 317e453..0000000
--- a/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-05_2024-03-01_11-01-05.102438041.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 971,
- "intrinsics": [
- 648.360168,
- 0.0,
- 729.818665,
- 0.0,
- 648.210327,
- 641.988037,
- 0.0,
- 0.0,
- 1.0
- ],
- "fixed_extrinsics": {
- "data": [
- 0.0,
- 0.0,
- 1.0,
- 0.284397,
- -1.0,
- 0.0,
- 0.0,
- 0.226771,
- 0.0,
- -1.0,
- 0.0,
- 0.442951,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "dist_coeffs": [
- -0.255473,
- 0.068444,
- 0.000028,
- -0.000078,
- -0.008004
- ],
- "calibration_timestamp": 409227793683328,
- "camera_id": "24-05",
- "camera_number": 0,
- "reprojection_error": 1.058851
-}
\ No newline at end of file
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 972e373..a36844b 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -4,30 +4,55 @@
"target_map": {% include 'y2024/vision/maps/target_map.json' %},
"shooter_interpolation_table": [
{
- "distance_from_goal": 5.0,
+ "distance_from_goal": 0.8,
"shot_params": {
- "shot_velocity": 0.0,
- "shot_altitude_angle": 0.0,
- "shot_catapult_angle": 0.0,
- "shot_speed_over_ground": 2.0
+ "shot_altitude_angle": 0.85,
+ "shot_speed_over_ground": 4.0
}
},
{
- "distance_from_goal": 10.0,
+ "distance_from_goal": 1.34,
"shot_params": {
- "shot_velocity": 0.0,
- "shot_altitude_angle": 0.0,
- "shot_catapult_angle": 0.0,
+ "shot_altitude_angle": 0.85,
+ "shot_speed_over_ground": 4.0
+ }
+ },
+ {
+ "distance_from_goal": 2.004,
+ "shot_params": {
+ "shot_altitude_angle": 0.73,
+ "shot_speed_over_ground": 4.0
+ }
+ },
+ // 2.2 -> high.
+ {
+ "distance_from_goal": 2.844,
+ "shot_params": {
+ "shot_altitude_angle": 0.62,
+ "shot_speed_over_ground": 4.0
+ }
+ },
+ {
+ "distance_from_goal": 3.374,
+ "shot_params": {
+ "shot_altitude_angle": 0.58,
+ "shot_speed_over_ground": 4.0
+ }
+ },
+ {
+ "distance_from_goal": 4.10,
+ "shot_params": {
+ "shot_altitude_angle": 0.54,
"shot_speed_over_ground": 4.0
}
}
],
"intake_roller_voltages": {
- "spitting": -4.0,
+ "spitting": -6.0,
"intaking": 9.0
},
"intake_pivot_set_points": {
- "extended": -0.03,
+ "extended": 0.045,
"retracted": 1.73
},
"intake_pivot": {
@@ -56,7 +81,7 @@
"intake_pivot_supply_current_limit": 40,
"intake_pivot_stator_current_limit": 100,
"intake_roller_supply_current_limit": 20,
- "intake_roller_stator_current_limit": 50,
+ "intake_roller_stator_current_limit": 100,
"transfer_roller_supply_current_limit": 20,
"transfer_roller_stator_current_limit": 50,
"drivetrain_supply_current_limit": 50,
@@ -64,11 +89,11 @@
"climber_supply_current_limit": 30,
"climber_stator_current_limit": 100,
"extend_supply_current_limit": 30,
- "extend_stator_current_limit": 150,
+ "extend_stator_current_limit": 180,
"extend_roller_supply_current_limit": 50,
- "extend_roller_stator_current_limit": 150,
- "turret_supply_current_limit": 20,
- "turret_stator_current_limit": 40,
+ "extend_roller_stator_current_limit": 180,
+ "turret_supply_current_limit": 30,
+ "turret_stator_current_limit": 80,
"altitude_supply_current_limit": 30,
"altitude_stator_current_limit": 150,
"catapult_supply_current_limit": 60,
@@ -84,13 +109,13 @@
"extend_moving": 4.0
},
"extend_roller_voltages": {
- "scoring": 7.0,
+ "scoring": 6.0,
"reversing": -4.0
},
"climber_set_points": {
"full_extend": -0.005,
- "stowed": -0.478,
- "retract": -0.478
+ "stowed": -0.442,
+ "retract": -0.472
},
"climber": {
"zeroing_voltage": 3.0,
@@ -104,9 +129,9 @@
"max_acceleration": 3.0
},
"range": {
- "lower_hard": -0.488,
+ "lower_hard": -0.495,
"upper_hard": 0.005,
- "lower": -0.478,
+ "lower": -0.492,
"upper": -0.005
},
"loop": {% include 'y2024/control_loops/superstructure/climber/integral_climber_plant.json' %}
@@ -158,7 +183,7 @@
"max_acceleration": 3.0
},
"default_profile_params":{
- "max_velocity": 3.0,
+ "max_velocity": 12.0,
"max_acceleration": 30.0
},
"range": {
@@ -196,7 +221,7 @@
"storage_order": "ColMajor",
// The data field contains the x, y and z
// coordinates of the speaker on the red alliance
- "data": [8.0645, 1.4435, 2.0705]
+ "data": [8.309, 1.4435, 2.0705]
},
"theta": 0.0
},
@@ -207,7 +232,7 @@
"storage_order": "ColMajor",
// The data field contains the x, y and z
// coordinates of the speaker on the blue alliance
- "data": [-8.0645, 1.4435, 2.0705]
+ "data": [-8.309, 1.4435, 2.0705]
},
"theta": 0.0
}
@@ -215,7 +240,7 @@
"altitude_loading_position": 0.02,
"turret_loading_position": 0.58,
"catapult_return_position": 0.0,
- "min_altitude_shooting_angle": 0.55,
+ "min_altitude_shooting_angle": 0.4,
"max_altitude_shooting_angle": 0.89,
"retention_roller_voltages": {
"retaining": 1.5,
@@ -223,8 +248,8 @@
},
// TODO(Filip): Update the speaker and amp shooter setpoints
"shooter_speaker_set_point": {
- "turret_position": 0.0,
- "altitude_position": 0.75,
+ "turret_position": 0.22,
+ "altitude_position": 0.85,
"shot_velocity": 0.0
},
"shooter_podium_set_point":{
@@ -233,10 +258,15 @@
"shot_velocity": 0.0
},
"extend_set_points": {
- "trap": 0.46,
+ "trap": 0.40,
"amp": 0.35,
"catapult": 0.017,
"retracted": 0.017
},
- "turret_avoid_extend_collision_position": 0.0
+ "turret_avoid_extend_collision_position": 0.0,
+ "autonomous_mode": "FOUR_PIECE",
+ "ignore_targets": {
+ "red": [1, 2, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16],
+ "blue": [1, 2, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16]
+ }
}