AlignToReef: Set min power for terminal approach with vision #344
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aschokking
requested review from
a team,
Rongrrz and
anthonytrenh
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Pull Request Overview
This PR adjusts the approach logic for vision-based alignment to ensure the robot maintains a minimum drive power when approaching the reef, along with additional logging improvements. Key changes include multiplying the drive power by an approach factor, enforcing a minimum shove power when the computed power is too low, and adding extra logging records, plus commenting out wait commands in autonomous routines.
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java | Adjusted drive power calculation to include scaling and minimum power enforcement; added logging |
| src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java | Commented out a wait command with explanatory notes |
| src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java | Commented out a wait command with explanatory notes |
src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java
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| powers = new Translation2d(shovePower.get(), powers.getAngle()); | ||
| } | ||
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| driveIntent = new XYPair(powers.getX(), powers.getY()); |
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…AprilTagCalculator.java Co-authored-by: Copilot <[email protected]>
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Why are we doing this?
This speeds up approach, landing flush instead of crawling to ~3-4 inches away and then shoving to close the gap.
With this change the robot hits the reef a little more affirmatively. The accuracy might suffer but it was getting dark in the atrium and it's hard to say how much of it was this (since it should really only impact the final approach)
Asana task URL:
Whats changing?
Questions/notes for reviewers
How this was tested
Tested in teleop, not auto yet
Video/screenshots (from simulator or live robot)
PR feedback legend