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…e reading of network tables. Majority of code is a state machine to handle full auto-aim then shoot with single button press.
tuning RPM based on distance
(did someone forget to commit fixes to the AutoAim branch at some point? There are a lot of stupid little things here)
and fix things (use the getNumber() method to get numbers from the network talbes) Also added the check for a valid target
(Probably isn't working though)
planning to integrate any rpm changes into autoAim.py
findConfig now has an argument for the name of the config. The only time this is currently used is to find the robot config but I'm planning to use it to store values for RPM calculations so I added the argument so I could use the method to find the yml.
Maybe I could use it? for now i'm making a new function
ended up copying, pasting and changing. Could cut out some stuff only needed when different versions are available.
figured it was necessary if we're changing rpms. THIS IS STILL TEST CODE, IT CANNOT CALCULATE DISTANCE.
This should be ready to test on the robot First we need to get values for the yml and run a regression. Then we test.
should be functional with a controller
Instead of equation, find point behind and in front of current distance and approximate
calculates a line between two values and what the RPM should be for that point on the line
…d stops while autoalign isn't running
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I'm starting this now - It will be a while until this branch is ready because of everything happening. The RPM/Distance values will likely need updating if/when a new robot is built and it still needs testing on the hopper to verify it in the end, but the minibot was able to use the limelight's angle of elevation to guess at its own position with enough accuracy for me.