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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / dd16ff0d103f22c31a6e4e34638c935259cfb23d / frc971 / control_loops
  1. dd16ff0 Prep lqr_plot for plotting swerve by Austin Schuh · 1 year, 1 month ago
  2. d1ab5d4 Provide a goal to our SAC implementation by Austin Schuh · 1 year, 1 month ago
  3. df96290 Split Soft Actor-Criticl problem out into a class by Austin Schuh · 1 year, 1 month ago
  4. d27be87 Merge "Add code to train a simple turret controller" into main by Austin Schuh · 1 year ago
  5. a4fa3e2 Add code to train a simple turret controller by justinT21 · 1 year ago
  6. 308c899 Make swerve_control_loops use continuous controller & zeroing by Nikolai Sohmers · 1 year, 4 months ago
  7. ef14ab4 Add test comparing C++ and Python dynamics codegen by James Kuszmaul · 1 year, 1 month ago
  8. 7fe907f Merge "Add an experience buffer and tests." into main by Austin Schuh · 1 year ago
  9. ef7a5df Merge "Add cost for force variance from average force and torque" into main by Austin Schuh · 1 year, 1 month ago
  10. f2a14e5 Add an experience buffer and tests. by Austin Schuh · 1 year, 1 month ago
  11. 3f90e04 Merge "Fix bug in physics and a few in physics_debug" into main by Austin Schuh · 1 year, 1 month ago
  12. 712d7b4 Merge changes I4c9f0071,Iaa5afeac,I7dbea619 into main by Austin Schuh · 1 year, 1 month ago
  13. d18f79f Fix bug in physics and a few in physics_debug by justinT21 · 1 year, 1 month ago
  14. fb47490 Merge "Fix physics debug" into main by Austin Schuh · 1 year, 1 month ago
  15. 7227a8b Fix documentation bug in dlqr by Austin Schuh · 1 year, 1 month ago
  16. ffb6db9 Fix NaNs in physics by Austin Schuh · 1 year, 2 months ago
  17. 62d9bde Fix physics debug by justinT21 · 1 year, 1 month ago
  18. ea5f0a7 Add flax and friends for training neural networks by Austin Schuh · 1 year, 2 months ago
  19. 820767f Add cost for force variance from average force and torque by justinT21 · 1 year, 1 month ago
  20. 76534f3 Add JAX version of the physics, and tests to confirm it matches by Austin Schuh · 1 year, 2 months ago
  21. 3211915 Merge "Webpage-based Path UI" into main by Philipp Schrader · 1 year, 2 months ago
  22. ba91ece Merge "Compensate steer coupling torque from velocity cost" into main by Austin Schuh · 1 year, 2 months ago
  23. 5371c80 Add support for making soft_atan2 a function in casadi by Austin Schuh · 1 year, 2 months ago
  24. ac0c5f8 Support a goal velocity of 0 in the swerve mpc by Austin Schuh · 1 year, 2 months ago
  25. 20d9020 Solve slow, backwards trajectories by Austin Schuh · 1 year, 2 months ago
  26. 9ff4f30 Reduce RK steps in swerve mpc by Austin Schuh · 1 year, 2 months ago
  27. 3aa49ab Add tool to run a bunch of swerve simulations in parallel by Austin Schuh · 1 year, 2 months ago
  28. 9289e6e Use flags in casadi_velocity_mpc by Austin Schuh · 1 year, 2 months ago
  29. 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
  30. 630200b Webpage-based Path UI by Nathan Leong · 1 year, 2 months ago
  31. 98fbbe8 Compensate steer coupling torque from velocity cost by Austin Schuh · 1 year, 2 months ago
  32. b8ffb7d Add debugging flag that enables the highest print level in ipopt by justinT21 · 1 year, 2 months ago
  33. c70fc62 Add a basic, empty spline UI based on Angular by Philipp Schrader · 1 year, 2 months ago
  34. 44d8531 Fix indexing of unpack_{x,u} in casadi_velocity_mpc by Austin Schuh · 1 year, 2 months ago
  35. 78a1b31 Use a sigmoid function for caster direction by Austin Schuh · 1 year, 2 months ago
  36. 7fa6521 Commit fatrop structure debug tool by Austin Schuh · 1 year, 2 months ago
  37. 22ee37f Restructure the MPC to solve with fatrop nicely by Austin Schuh · 1 year, 2 months ago
  38. c5c20b9 Add wall clock timing to casadi code by Austin Schuh · 1 year, 2 months ago
  39. e0ecca9 Clean up problem initialization in casadi velocity controller by Austin Schuh · 1 year, 2 months ago
  40. bd75c48 Fix singularities in atan2 at 0, 0 in swerve physics by Austin Schuh · 1 year, 2 months ago
  41. aa52ff8 Set backend in swerve matplotlib users by James Kuszmaul · 1 year, 2 months ago
  42. 5a3bcf5 Merge changes Id4b9065d,I2e0e54dd by James Kuszmaul · 1 year, 2 months ago
  43. 4c28f1f Merge changes Iab3f4ad3,I8a6d21c1 by Austin Schuh · 1 year, 2 months ago
  44. 9ea3ff9 Create/support "continuous" control loops by James Kuszmaul · 1 year, 4 months ago
  45. df6b168 Zero the swerve test drivebase by James Kuszmaul · 1 year, 4 months ago
  46. 11129f3 Penalize velocity perpendicular to the goal vector differently by Austin Schuh · 1 year, 2 months ago
  47. 3af6ceb Use previous solution to seed the next by Austin Schuh · 1 year, 2 months ago
  48. e170bb8 Fix bug in swerve Runge Kutta implementation by Austin Schuh · 1 year, 2 months ago
  49. 958ad77 Use casadi builtins to generate more optimal code by Austin Schuh · 1 year, 3 months ago
  50. 9e43ec3 Split swerve velocity MPC cost function out into a function by Austin Schuh · 1 year, 3 months ago
  51. 3233d7f Add tests that currents have sane responses by Austin Schuh · 1 year, 3 months ago
  52. 6ea789e Add initial velocity MPC by Austin Schuh · 1 year, 3 months ago
  53. 07d41ed Add debug script and break out test utils by justinT21 · 1 year, 3 months ago
  54. b65288d Fix current related issues by justinT21 · 1 year, 3 months ago
  55. 11b3e2b Merge "Add swerve note latex file" by Austin Schuh · 1 year, 3 months ago
  56. 66f75d7 Add swerve note latex file by justinT21 · 1 year, 3 months ago
  57. 5ddcb47 Make swerve C++ physics match python by Austin Schuh · 1 year, 3 months ago
  58. 27694fa Fix signs on wheels pointed backwards by Austin Schuh · 1 year, 3 months ago
  59. 99f7c6a Move over to ABSL logging and flags. by Austin Schuh · 1 year, 4 months ago
  60. 6927bc3 Fix caster to be to the back in the swerve physcis by Austin Schuh · 1 year, 3 months ago
  61. b8b34be Fix and test swerve physics mistakes by Austin Schuh · 1 year, 3 months ago
  62. 2a1abec Add unit tests for physics for swerve by Austin Schuh · 1 year, 3 months ago
  63. b67a38f Generate functions to compute swerve internal state by Austin Schuh · 1 year, 4 months ago
  64. 3d39080 Merge "Add casadi generator to symengine code" by Austin Schuh · 1 year, 3 months ago
  65. 0f88109 Add casadi generator to symengine code by Austin Schuh · 1 year, 4 months ago
  66. 6bdcc37 Remove usage of CHECK_NOTNULL by Austin Schuh · 1 year, 4 months ago
  67. 605d5ff Deduplicate logger nodes and tags when merging configs by Austin Schuh · 1 year, 6 months ago
  68. 942892b Fix some cases of divergence in the physics model by justinT21 · 1 year, 4 months ago
  69. 446e4f6 Port over sympy physics solving to c++ using symengine by justinT21 · 1 year, 4 months ago
  70. be03dd3 Use PopulateSwerveModuleRotation Function in Swerve Control Loops by Nikolai Sohmers · 1 year, 4 months ago
  71. b0bfaf8 Add ode45 to runge_kutta.h by Austin Schuh · 1 year, 4 months ago
  72. 8412fe5 Add swerve control loops by Nikolai Sohmers · 1 year, 5 months ago
  73. 69ecb91 Add swerve flatbuffer files by Nikolai Sohmers · 1 year, 5 months ago
  74. 3f2a507 Update swerve drivetrain position messages & logic by Nikolai Sohmers · 1 year, 5 months ago
  75. 2df6f30 Allow Control Loops to use Static Flatbuffers for Output and Status by Nikolai Sohmers · 1 year, 5 months ago
  76. d938d33 Move the swerve_drivetrain*.fbs files to frc971/control_loop/swerve by James Kuszmaul · 1 year, 5 months ago
  77. 999a19e Add single wheel tire model by Austin Schuh · 1 year, 6 months ago
  78. 8f99c82 Upgrade to bazel 7.1.1 by Austin Schuh · 1 year, 6 months ago
  79. 81d5f2d Normalize more angles in localization code by James Kuszmaul · 1 year, 7 months ago
  80. 88e9441 Don't disable drivetrain outputs on missing IMU by James Kuszmaul · 1 year, 7 months ago
  81. fc4e3f5 Quiet down profiled_subsystem.h by James Kuszmaul · 1 year, 7 months ago
  82. ad394ac Make spline drivetrain code not move once stopped by James Kuszmaul · 1 year, 7 months ago
  83. 8ca5dc1 Take longer to consider robot disabled in localizer by James Kuszmaul · 1 year, 7 months ago
  84. 592055e Update some tunings & swap to heading/distance/skew by James Kuszmaul · 1 year, 7 months ago
  85. 6e5f825 Parameterize spline drivetrain & slightly detune left/right vel by James Kuszmaul · 1 year, 7 months ago
  86. 5d91782 Check for instability in trajectory generation by James Kuszmaul · 1 year, 7 months ago
  87. 6f0a35b Fetch latest SplineGoal in trajectory_generator by James Kuszmaul · 1 year, 7 months ago
  88. a954799 Downgrade LOG(WARNING) in trajectory code to prevent malloc's by James Kuszmaul · 1 year, 7 months ago
  89. a5a418f Add more status information to spline following by James Kuszmaul · 1 year, 7 months ago
  90. 7aa33a9 Increase gyro zeroing threshold for drivetrain by James Kuszmaul · 1 year, 7 months ago
  91. 4602769 Merge "Reduce context switches by prioritizing loops over output" by Austin Schuh · 1 year, 7 months ago
  92. ed5ce8b Reduce context switches by prioritizing loops over output by Austin Schuh · 1 year, 7 months ago
  93. 5775481 Explicitly set matplotlib backend in drivetrain.py by James Kuszmaul · 1 year, 7 months ago
  94. 2700e0f Improve handling of absent encoder values by James Kuszmaul · 1 year, 7 months ago
  95. db11823 Merge "Make talonfx log its own timestamp" by James Kuszmaul · 1 year, 7 months ago
  96. 20a2b77 Fix handling of encoder initialization in HybridEkf by James Kuszmaul · 1 year, 7 months ago
  97. d7938a6 Spline UI fixups for 2024 by James Kuszmaul · 1 year, 7 months ago
  98. 5c4ccf6 Remove mallocs in realtime trajectory code by James Kuszmaul · 1 year, 8 months ago
  99. 4d17e4a Make talonfx log its own timestamp by Maxwell Henderson · 1 year, 7 months ago
  100. f6aa038 Swap to combined voltage/encoder message for localizer by James Kuszmaul · 1 year, 8 months ago