Merge "Revert "Make the detection pixel border 10 pixels""
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index 2fe58cf..6e72615 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -11,13 +11,13 @@
"calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-03_00-43-52.104451759.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-23_13-05-40.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-03_00-43-52.104348086.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-23_13-05-40.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-03_00-43-52.104098137.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-23_13-05-40.json' %}
}
],
"robot": {
diff --git a/y2024/constants/9971.json b/y2024/constants/9971.json
index 23cad58..da8ed92 100644
--- a/y2024/constants/9971.json
+++ b/y2024/constants/9971.json
@@ -8,8 +8,17 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1_cam-24-00.json' %}
- }
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json' %}
+ },
],
"robot": {
{% set _ = intake_pivot_zero.update(
diff --git a/y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-03_00-43-52.104098137.json b/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-23_13-05-40.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-03_00-43-52.104098137.json
rename to y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-23_13-05-40.json
index 874d282..a25927b 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-03_00-43-52.104098137.json
+++ b/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-23_13-05-40.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.530963,
- -0.006085,
- 0.847373,
- -0.047041,
- -0.847373,
- -0.011096,
- 0.530883,
- -0.127507,
- 0.006172,
- -0.99992,
- -0.011048,
- -0.04483,
+ 0.542349,
+ -0.013533,
+ 0.840044,
+ -0.020897,
+ -0.840117,
+ 0.000599,
+ 0.542405,
+ -0.115704,
+ -0.007843,
+ -0.999908,
+ -0.011044,
+ -0.052145,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
-0.000061,
-0.00879
],
- "calibration_timestamp": 1709455432104098137,
+ "calibration_timestamp": 1711224340728285298,
"camera_id": "24-03",
"camera_number": 1
}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json b/y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
similarity index 87%
rename from y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
rename to y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
index 0912038..66ea94a 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
+++ b/y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
@@ -1,6 +1,6 @@
{
- "node_name": "orin1",
- "team_number": 971,
+ "node_name": "imu",
+ "team_number": 9971,
"intrinsics": [
646.04834,
0.0,
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json b/y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
similarity index 87%
rename from y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
rename to y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
index 0fda16d..7f8b6ad 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
+++ b/y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
@@ -1,6 +1,6 @@
{
- "node_name": "orin1",
- "team_number": 971,
+ "node_name": "imu",
+ "team_number": 9971,
"intrinsics": [
647.19928,
0.0,
@@ -23,4 +23,4 @@
"camera_id": "24-12",
"camera_number": 1,
"reprojection_error": 1.23409
-}
\ No newline at end of file
+}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-09_2024-02-24_16-10-16.872521280.json b/y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json
similarity index 87%
rename from y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-09_2024-02-24_16-10-16.872521280.json
rename to y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json
index 9eed9bf..068e3d2 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-09_2024-02-24_16-10-16.872521280.json
+++ b/y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json
@@ -1,6 +1,6 @@
{
"node_name": "orin1",
- "team_number": 971,
+ "team_number": 9971,
"intrinsics": [
648.187805,
0.0,
@@ -21,6 +21,6 @@
],
"calibration_timestamp": 1708819816872521280,
"camera_id": "24-09",
- "camera_number": 1,
+ "camera_number": 0,
"reprojection_error": 1.881098
-}
\ No newline at end of file
+}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json b/y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
similarity index 93%
rename from y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
rename to y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
index 4957b75..c94dcaa 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
+++ b/y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
@@ -1,6 +1,6 @@
{
"node_name": "orin1",
- "team_number": 971,
+ "team_number": 9971,
"intrinsics": [
649.866699,
0.0,
@@ -23,4 +23,4 @@
"camera_id": "24-11",
"camera_number": 1,
"reprojection_error": 1.450069
-}
\ No newline at end of file
+}
diff --git a/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-03_00-43-52.104451759.json b/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-23_13-05-40.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-03_00-43-52.104451759.json
rename to y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-23_13-05-40.json
index 804e854..bb51d07 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-03_00-43-52.104451759.json
+++ b/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-23_13-05-40.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -0.999409,
- -0.033871,
- -0.005938,
- -0.054149,
- 0.00624,
- -0.008812,
- -0.999942,
- -0.455382,
- 0.033816,
- -0.999387,
- 0.009018,
- -0.038435,
+ -0.97224,
+ 0.059899,
+ 0.226187,
+ -0.070284,
+ -0.224333,
+ 0.036144,
+ -0.973842,
+ -0.550947,
+ -0.066508,
+ -0.99755,
+ -0.021703,
+ -0.121436,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000099,
-0.005468
],
- "calibration_timestamp": 1709455432104451759,
+ "calibration_timestamp": 1711224340729171983,
"camera_id": "24-04",
"camera_number": 0
}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-03_00-43-52.104348086.json b/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-23_13-05-40.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-03_00-43-52.104348086.json
rename to y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-23_13-05-40.json
index 5e9095f..566b868 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-03_00-43-52.104348086.json
+++ b/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-23_13-05-40.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -0.465205,
- -0.009078,
- 0.885157,
- -0.040515,
- -0.885133,
- -0.007831,
- -0.465273,
- -0.328485,
- 0.011156,
- -0.999928,
- -0.004392,
- -0.036284,
+ -0.405648,
+ 0.026857,
+ 0.913635,
+ -0.007853,
+ -0.913349,
+ 0.026638,
+ -0.406305,
+ -0.344469,
+ -0.03525,
+ -0.999284,
+ 0.013724,
+ -0.076866,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000015,
-0.005636
],
- "calibration_timestamp": 1709455432104348086,
+ "calibration_timestamp": 1711224340728794682,
"camera_id": "24-02",
"camera_number": 1
}
\ No newline at end of file
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 9edc626..daede87 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -50,7 +50,7 @@
extend_(
robot_constants_->common()->extend(),
robot_constants_->robot()->extend_constants()->zeroing_constants()),
- extend_debouncer_(std::chrono::milliseconds(30),
+ extend_debouncer_(std::chrono::milliseconds(12),
std::chrono::milliseconds(8)),
transfer_debouncer_(std::chrono::milliseconds(30),
std::chrono::milliseconds(8)) {
@@ -701,6 +701,7 @@
extend_ready_for_catapult_transfer);
status_builder.add_extend_beambreak(extend_beambreak);
status_builder.add_catapult_beambreak(position->catapult_beambreak());
+ status_builder.add_transfer_beambreak(transfer_beambreak);
(void)status->Send(status_builder.Finish());
}
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index fd19e8d..0b30edd 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -181,6 +181,7 @@
extend_beambreak:bool (id: 19);
catapult_beambreak:bool (id: 20);
+ transfer_beambreak:bool (id: 22);
// Number of shots we have taken.
shot_count:uint32 (id:21);
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 301ab79..eb419e6 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -142,8 +142,10 @@
};
void Start() override {
AddToDMA(&imu_yaw_rate_reader_);
- AddToDMA(&turret_encoder_.reader());
- AddToDMA(&altitude_encoder_.reader());
+ if (aos::network::GetTeamNumber() != 9971) {
+ AddToDMA(&turret_encoder_.reader());
+ AddToDMA(&altitude_encoder_.reader());
+ }
}
// Auto mode switches.
@@ -157,7 +159,7 @@
}
void RunIteration() override {
- {
+ if (aos::network::GetTeamNumber() != 9971) {
aos::Sender<superstructure::PositionStatic>::StaticBuilder builder =
superstructure_position_sender_.MakeStaticBuilder();
@@ -399,6 +401,8 @@
frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+ const int team_number = aos::network::GetTeamNumber();
+
::aos::ShmEventLoop constant_fetcher_event_loop(&config.message());
frc971::constants::ConstantsFetcher<Constants> constants_fetcher(
&constant_fetcher_event_loop);
@@ -426,28 +430,125 @@
sensor_reader.set_drivetrain_right_encoder(
std::make_unique<frc::Encoder>(6, 7));
sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(25));
- sensor_reader.set_intake_pivot(make_encoder(3),
- make_unique<frc::DigitalInput>(3));
- sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(23));
- sensor_reader.set_extend_beambreak(make_unique<frc::DigitalInput>(24));
- sensor_reader.set_catapult_beambreak(make_unique<frc::DigitalInput>(22));
- sensor_reader.set_climber(make_encoder(4),
- make_unique<frc::DigitalInput>(4),
- make_unique<frc::AnalogInput>(4));
- sensor_reader.set_extend(make_encoder(5), make_unique<frc::DigitalInput>(5),
- make_unique<frc::AnalogInput>(5));
- sensor_reader.set_catapult(make_encoder(0),
- make_unique<frc::DigitalInput>(0),
- make_unique<frc::AnalogInput>(0));
- sensor_reader.set_turret(make_encoder(2), make_unique<frc::DigitalInput>(2),
- make_unique<frc::AnalogInput>(2));
- sensor_reader.set_altitude(make_encoder(1),
- make_unique<frc::DigitalInput>(1),
- make_unique<frc::AnalogInput>(1));
+ if (team_number != 9971) {
+ sensor_reader.set_intake_pivot(make_encoder(3),
+ make_unique<frc::DigitalInput>(3));
+ sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(23));
+ sensor_reader.set_extend_beambreak(make_unique<frc::DigitalInput>(24));
+ sensor_reader.set_catapult_beambreak(make_unique<frc::DigitalInput>(22));
+
+ sensor_reader.set_climber(make_encoder(4),
+ make_unique<frc::DigitalInput>(4),
+ make_unique<frc::AnalogInput>(4));
+ sensor_reader.set_extend(make_encoder(5),
+ make_unique<frc::DigitalInput>(5),
+ make_unique<frc::AnalogInput>(5));
+ sensor_reader.set_catapult(make_encoder(0),
+ make_unique<frc::DigitalInput>(0),
+ make_unique<frc::AnalogInput>(0));
+ sensor_reader.set_turret(make_encoder(2),
+ make_unique<frc::DigitalInput>(2),
+ make_unique<frc::AnalogInput>(2));
+ sensor_reader.set_altitude(make_encoder(1),
+ make_unique<frc::DigitalInput>(1),
+ make_unique<frc::AnalogInput>(1));
+ }
AddLoop(&sensor_reader_event_loop);
+ if (team_number == 9971) {
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signal_registry;
+
+ if (!FLAGS_ctre_diag_server) {
+ c_Phoenix_Diagnostics_SetSecondsToStart(-1);
+ c_Phoenix_Diagnostics_Dispose();
+ }
+
+ const CurrentLimits *current_limits =
+ robot_constants->common()->current_limits();
+
+ std::shared_ptr<TalonFX> right_front = std::make_shared<TalonFX>(
+ 2, true, "Drivetrain Bus", &signal_registry,
+ current_limits->drivetrain_supply_current_limit(),
+ current_limits->drivetrain_stator_current_limit());
+ std::shared_ptr<TalonFX> right_back = std::make_shared<TalonFX>(
+ 1, true, "Drivetrain Bus", &signal_registry,
+ current_limits->drivetrain_supply_current_limit(),
+ current_limits->drivetrain_stator_current_limit());
+ std::shared_ptr<TalonFX> left_front = std::make_shared<TalonFX>(
+ 4, false, "Drivetrain Bus", &signal_registry,
+ current_limits->drivetrain_supply_current_limit(),
+ current_limits->drivetrain_stator_current_limit());
+ std::shared_ptr<TalonFX> left_back = std::make_shared<TalonFX>(
+ 5, false, "Drivetrain Bus", &signal_registry,
+ current_limits->drivetrain_supply_current_limit(),
+ current_limits->drivetrain_stator_current_limit());
+
+ ctre::phoenix::platform::can::CANComm_SetRxSchedPriority(
+ constants::Values::kDrivetrainRxPriority, true, "Drivetrain Bus");
+ ctre::phoenix::platform::can::CANComm_SetTxSchedPriority(
+ constants::Values::kDrivetrainWriterPriority, true, "Drivetrain Bus");
+
+ ::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ can_sensor_reader_event_loop.set_name("CANSensorReader");
+
+ std::vector<std::shared_ptr<TalonFX>> drivetrain_krakens;
+
+ for (auto talonfx : {right_front, right_back, left_front, left_back}) {
+ drivetrain_krakens.push_back(talonfx);
+ }
+
+ aos::Sender<frc971::control_loops::drivetrain::CANPositionStatic>
+ drivetrain_can_position_sender =
+ can_sensor_reader_event_loop.MakeSender<
+ frc971::control_loops::drivetrain::CANPositionStatic>(
+ "/drivetrain");
+
+ frc971::wpilib::CANSensorReader can_sensor_reader(
+ &can_sensor_reader_event_loop, std::move(signal_registry),
+ drivetrain_krakens,
+ [drivetrain_krakens,
+ &drivetrain_can_position_sender](ctre::phoenix::StatusCode status) {
+ aos::Sender<frc971::control_loops::drivetrain::CANPositionStatic>::
+ StaticBuilder drivetrain_can_builder =
+ drivetrain_can_position_sender.MakeStaticBuilder();
+
+ auto drivetrain_falcon_vector =
+ CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
+
+ for (auto talonfx : drivetrain_krakens) {
+ talonfx->SerializePosition(
+ drivetrain_falcon_vector->emplace_back(),
+ control_loops::drivetrain::kHighOutputRatio);
+ }
+
+ drivetrain_can_builder->set_status(static_cast<int>(status));
+
+ drivetrain_can_builder.CheckOk(drivetrain_can_builder.Send());
+ });
+
+ AddLoop(&can_sensor_reader_event_loop);
+
+ ::aos::ShmEventLoop can_output_event_loop(&config.message());
+ can_output_event_loop.set_name("CANOutputWriter");
+
+ frc971::wpilib::CANDrivetrainWriter can_drivetrain_writer(
+ &can_output_event_loop);
+
+ can_drivetrain_writer.set_talonfxs({right_front, right_back},
+ {left_front, left_back});
+ can_output_event_loop.MakeWatcher(
+ "/roborio", [&can_drivetrain_writer](
+ const frc971::CANConfiguration &configuration) {
+ can_drivetrain_writer.HandleCANConfiguration(configuration);
+ });
+
+ AddLoop(&can_output_event_loop);
+
+ RunLoops();
+ return;
+ }
// Thread 4.
// Set up CAN.
if (!FLAGS_ctre_diag_server) {
diff --git a/y2024/www/field.html b/y2024/www/field.html
index 8fd4ebb..a8f28b1 100644
--- a/y2024/www/field.html
+++ b/y2024/www/field.html
@@ -77,6 +77,10 @@
<th colspan="2">Beambreaks</th>
</tr>
<tr>
+ <td>Transfer Beambreak</td>
+ <td id="transfer_beambreak">FALSE</td>
+ </tr>
+ <tr>
<td>Extend Beambreak</td>
<td id="extend_beambreak">FALSE</td>
</tr>
diff --git a/y2024/www/field_handler.ts b/y2024/www/field_handler.ts
index 1b4ad1e..6573e8d 100644
--- a/y2024/www/field_handler.ts
+++ b/y2024/www/field_handler.ts
@@ -78,6 +78,8 @@
(document.getElementById('extend_beambreak') as HTMLElement);
private catapult_beambreak: HTMLElement =
(document.getElementById('catapult_beambreak') as HTMLElement);
+ private transfer_beambreak: HTMLElement =
+ (document.getElementById('transfer_beambreak') as HTMLElement);
private extend_at_retracted: HTMLElement =
(document.getElementById('extend_at_retracted') as HTMLElement);
@@ -514,6 +516,8 @@
this.setBoolean(this.catapult_beambreak, this.superstructureStatus.catapultBeambreak());
+ this.setBoolean(this.transfer_beambreak, this.superstructureStatus.transferBeambreak());
+
this.setBoolean(this.extend_ready_for_transfer, this.superstructureStatus.extendReadyForTransfer());
this.setBoolean(this.extend_at_retracted, this.superstructureStatus.extendAtRetracted());