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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 9327d71dba8b43c9f7bda8880dc8802f4b48c73d / frc971 / control_loops
  1. 5371c80 Add support for making soft_atan2 a function in casadi by Austin Schuh · 1 year, 2 months ago
  2. ac0c5f8 Support a goal velocity of 0 in the swerve mpc by Austin Schuh · 1 year, 2 months ago
  3. 20d9020 Solve slow, backwards trajectories by Austin Schuh · 1 year, 2 months ago
  4. 9ff4f30 Reduce RK steps in swerve mpc by Austin Schuh · 1 year, 2 months ago
  5. 3aa49ab Add tool to run a bunch of swerve simulations in parallel by Austin Schuh · 1 year, 2 months ago
  6. 9289e6e Use flags in casadi_velocity_mpc by Austin Schuh · 1 year, 2 months ago
  7. cc6eed0 Add sigmoid to replace abs(x) in atan2(y, x) to keep it smooth on the x-axis by justinT21 · 1 year, 2 months ago
  8. b8ffb7d Add debugging flag that enables the highest print level in ipopt by justinT21 · 1 year, 2 months ago
  9. c70fc62 Add a basic, empty spline UI based on Angular by Philipp Schrader · 1 year, 2 months ago
  10. 44d8531 Fix indexing of unpack_{x,u} in casadi_velocity_mpc by Austin Schuh · 1 year, 2 months ago
  11. 78a1b31 Use a sigmoid function for caster direction by Austin Schuh · 1 year, 2 months ago
  12. 7fa6521 Commit fatrop structure debug tool by Austin Schuh · 1 year, 2 months ago
  13. 22ee37f Restructure the MPC to solve with fatrop nicely by Austin Schuh · 1 year, 2 months ago
  14. c5c20b9 Add wall clock timing to casadi code by Austin Schuh · 1 year, 2 months ago
  15. e0ecca9 Clean up problem initialization in casadi velocity controller by Austin Schuh · 1 year, 2 months ago
  16. bd75c48 Fix singularities in atan2 at 0, 0 in swerve physics by Austin Schuh · 1 year, 2 months ago
  17. aa52ff8 Set backend in swerve matplotlib users by James Kuszmaul · 1 year, 2 months ago
  18. 5a3bcf5 Merge changes Id4b9065d,I2e0e54dd by James Kuszmaul · 1 year, 2 months ago
  19. 4c28f1f Merge changes Iab3f4ad3,I8a6d21c1 by Austin Schuh · 1 year, 2 months ago
  20. 9ea3ff9 Create/support "continuous" control loops by James Kuszmaul · 1 year, 4 months ago
  21. df6b168 Zero the swerve test drivebase by James Kuszmaul · 1 year, 3 months ago
  22. 11129f3 Penalize velocity perpendicular to the goal vector differently by Austin Schuh · 1 year, 2 months ago
  23. 3af6ceb Use previous solution to seed the next by Austin Schuh · 1 year, 2 months ago
  24. e170bb8 Fix bug in swerve Runge Kutta implementation by Austin Schuh · 1 year, 2 months ago
  25. 958ad77 Use casadi builtins to generate more optimal code by Austin Schuh · 1 year, 2 months ago
  26. 9e43ec3 Split swerve velocity MPC cost function out into a function by Austin Schuh · 1 year, 2 months ago
  27. 3233d7f Add tests that currents have sane responses by Austin Schuh · 1 year, 3 months ago
  28. 6ea789e Add initial velocity MPC by Austin Schuh · 1 year, 3 months ago
  29. 07d41ed Add debug script and break out test utils by justinT21 · 1 year, 3 months ago
  30. b65288d Fix current related issues by justinT21 · 1 year, 3 months ago
  31. 11b3e2b Merge "Add swerve note latex file" by Austin Schuh · 1 year, 3 months ago
  32. 66f75d7 Add swerve note latex file by justinT21 · 1 year, 3 months ago
  33. 5ddcb47 Make swerve C++ physics match python by Austin Schuh · 1 year, 3 months ago
  34. 27694fa Fix signs on wheels pointed backwards by Austin Schuh · 1 year, 3 months ago
  35. 99f7c6a Move over to ABSL logging and flags. by Austin Schuh · 1 year, 4 months ago
  36. 6927bc3 Fix caster to be to the back in the swerve physcis by Austin Schuh · 1 year, 3 months ago
  37. b8b34be Fix and test swerve physics mistakes by Austin Schuh · 1 year, 3 months ago
  38. 2a1abec Add unit tests for physics for swerve by Austin Schuh · 1 year, 3 months ago
  39. b67a38f Generate functions to compute swerve internal state by Austin Schuh · 1 year, 4 months ago
  40. 3d39080 Merge "Add casadi generator to symengine code" by Austin Schuh · 1 year, 3 months ago
  41. 0f88109 Add casadi generator to symengine code by Austin Schuh · 1 year, 4 months ago
  42. 6bdcc37 Remove usage of CHECK_NOTNULL by Austin Schuh · 1 year, 4 months ago
  43. 605d5ff Deduplicate logger nodes and tags when merging configs by Austin Schuh · 1 year, 5 months ago
  44. 942892b Fix some cases of divergence in the physics model by justinT21 · 1 year, 4 months ago
  45. 446e4f6 Port over sympy physics solving to c++ using symengine by justinT21 · 1 year, 4 months ago
  46. be03dd3 Use PopulateSwerveModuleRotation Function in Swerve Control Loops by Nikolai Sohmers · 1 year, 4 months ago
  47. b0bfaf8 Add ode45 to runge_kutta.h by Austin Schuh · 1 year, 4 months ago
  48. 8412fe5 Add swerve control loops by Nikolai Sohmers · 1 year, 4 months ago
  49. 69ecb91 Add swerve flatbuffer files by Nikolai Sohmers · 1 year, 4 months ago
  50. 3f2a507 Update swerve drivetrain position messages & logic by Nikolai Sohmers · 1 year, 4 months ago
  51. 2df6f30 Allow Control Loops to use Static Flatbuffers for Output and Status by Nikolai Sohmers · 1 year, 5 months ago
  52. d938d33 Move the swerve_drivetrain*.fbs files to frc971/control_loop/swerve by James Kuszmaul · 1 year, 5 months ago
  53. 999a19e Add single wheel tire model by Austin Schuh · 1 year, 6 months ago
  54. 8f99c82 Upgrade to bazel 7.1.1 by Austin Schuh · 1 year, 6 months ago
  55. 81d5f2d Normalize more angles in localization code by James Kuszmaul · 1 year, 7 months ago
  56. 88e9441 Don't disable drivetrain outputs on missing IMU by James Kuszmaul · 1 year, 7 months ago
  57. fc4e3f5 Quiet down profiled_subsystem.h by James Kuszmaul · 1 year, 7 months ago
  58. ad394ac Make spline drivetrain code not move once stopped by James Kuszmaul · 1 year, 7 months ago
  59. 8ca5dc1 Take longer to consider robot disabled in localizer by James Kuszmaul · 1 year, 7 months ago
  60. 592055e Update some tunings & swap to heading/distance/skew by James Kuszmaul · 1 year, 7 months ago
  61. 6e5f825 Parameterize spline drivetrain & slightly detune left/right vel by James Kuszmaul · 1 year, 7 months ago
  62. 5d91782 Check for instability in trajectory generation by James Kuszmaul · 1 year, 7 months ago
  63. 6f0a35b Fetch latest SplineGoal in trajectory_generator by James Kuszmaul · 1 year, 7 months ago
  64. a954799 Downgrade LOG(WARNING) in trajectory code to prevent malloc's by James Kuszmaul · 1 year, 7 months ago
  65. a5a418f Add more status information to spline following by James Kuszmaul · 1 year, 7 months ago
  66. 7aa33a9 Increase gyro zeroing threshold for drivetrain by James Kuszmaul · 1 year, 7 months ago
  67. 4602769 Merge "Reduce context switches by prioritizing loops over output" by Austin Schuh · 1 year, 7 months ago
  68. ed5ce8b Reduce context switches by prioritizing loops over output by Austin Schuh · 1 year, 7 months ago
  69. 5775481 Explicitly set matplotlib backend in drivetrain.py by James Kuszmaul · 1 year, 7 months ago
  70. 2700e0f Improve handling of absent encoder values by James Kuszmaul · 1 year, 7 months ago
  71. db11823 Merge "Make talonfx log its own timestamp" by James Kuszmaul · 1 year, 7 months ago
  72. 20a2b77 Fix handling of encoder initialization in HybridEkf by James Kuszmaul · 1 year, 7 months ago
  73. d7938a6 Spline UI fixups for 2024 by James Kuszmaul · 1 year, 7 months ago
  74. 5c4ccf6 Remove mallocs in realtime trajectory code by James Kuszmaul · 1 year, 8 months ago
  75. 4d17e4a Make talonfx log its own timestamp by Maxwell Henderson · 1 year, 7 months ago
  76. f6aa038 Swap to combined voltage/encoder message for localizer by James Kuszmaul · 1 year, 8 months ago
  77. a4226f5 Disable voltage error on 2024 intake pivot by James Kuszmaul · 1 year, 8 months ago
  78. 19da323 Fix same-node clock offsets in localization utils by James Kuszmaul · 1 year, 8 months ago
  79. 313e9ce Create y2024 localizer by James Kuszmaul · 1 year, 8 months ago
  80. aca5a1a Merge "Add shooter superstructure code" by James Kuszmaul · 1 year, 8 months ago
  81. 252087c Merge changes Ie0fc08c6,I798d937a by Austin Schuh · 1 year, 8 months ago
  82. c4d2c50 Add shooter superstructure code by Niko Sohmers · 1 year, 8 months ago
  83. ea83443 Make profile type a template parameter by Austin Schuh · 1 year, 8 months ago
  84. d700ce0 Merge "Check that ball speed is positive" by Stephan Pleines · 1 year, 8 months ago
  85. 6eee8a1 Merge "First pass at tuning 2024 subsystems" by Austin Schuh · 1 year, 8 months ago
  86. 087613b First pass at tuning 2024 subsystems by Austin Schuh · 1 year, 8 months ago
  87. 41e0543 Merge "[spline ui] Update 2024 robot dimensions" by Austin Schuh · 1 year, 8 months ago
  88. 6274273 [spline ui] Update 2024 robot dimensions by Tushar Pankaj · 1 year, 8 months ago
  89. 8ef61ed Check that ball speed is positive by Stephan Pleines · 1 year, 8 months ago
  90. 2e282d1 Plot better enery usage information in linear/angular systems by Austin Schuh · 1 year, 8 months ago
  91. 19612ab Add more functionality to year-agnostic localization utils by James Kuszmaul · 1 year, 8 months ago
  92. f515879 Merge "Add Drivetrain Encoder fault detector" by James Kuszmaul · 1 year, 8 months ago
  93. 43f7198 Add Drivetrain Encoder fault detector by Niko Sohmers · 1 year, 10 months ago
  94. 10331a2 Merge "Create a function to populate a SZSDPS goal" by James Kuszmaul · 1 year, 8 months ago
  95. 3e67ea5 Merge "Moving analysis from frc971 to aos, cleanup" by James Kuszmaul · 1 year, 8 months ago
  96. 9e40c8e Moving analysis from frc971 to aos, cleanup by Stephan Pleines · 1 year, 8 months ago
  97. 4e1231a Create a function to populate a SZSDPS goal by Maxwell Henderson · 1 year, 9 months ago
  98. 05014af Merge "Add Encoder Fault Detector to frc971 Control Loop" by James Kuszmaul · 1 year, 8 months ago
  99. 5ef0101 Merge "Give DrivetrainCANPosition a static length" by James Kuszmaul · 1 year, 8 months ago
  100. 4a5bef8 Add Encoder Fault Detector to frc971 Control Loop by Niko Sohmers · 1 year, 10 months ago