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main into autoscore pr#10

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EdzmLeGoat wants to merge 70 commits intoautoscoreblair-robot-project/robot2025:autoscorefrom mainblair-robot-project/robot2025:mainCopy head branch name to clipboard

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Commits

Commits on Jan 8, 2025

• added a followTrajectory method in DriveSubsystem.kt

  Tinbite-A

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Commits on Jan 9, 2025

• added ChoreoLib2025.json to git

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Commits on Jan 10, 2025

• removed DriveSubsystem.kt and add the followTrajectory method in the SwerveDrive.kt

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Commits on Jan 11, 2025

• fixed building issue

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• Adding new auto functions

  JoelRax

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• added commands

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• made auto chooser show up on dashboard

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• fixed resetting pose

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Commits on Jan 13, 2025

• renamed the files back to what they were

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• merged main into choreolib

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Commits on Jan 14, 2025

• Switching to Auto Routine

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Commits on Jan 16, 2025

• updated the drive subsystem pos

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Commits on Jan 18, 2025

• Merge branch 'main' into choreolib

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• added multiple Routines for auto, updated some of the trajectories

  Tinbite-A

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• Merge remote-tracking branch 'origin/choreolib' into choreolib

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• added multiple Routines for auto, updated some of the trajectories

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• sim desired motion magic profile instead of instant goal setting

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• changed manual unit conversions to use units library

  elwo-boop

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• Merge branch 'choreolib' into main

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• Revert "added multiple Routines for auto, updated some of the trajectories"

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• Revert "added multiple Routines for auto, updated some of the trajectories"

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• Revert "updated the drive subsystem pos"

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• Revert "Switching to Auto Routine"

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• Revert "fixed resetting pose"

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• Revert "made auto chooser show up on dashboard"

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• Revert "added commands"

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• Revert "Adding new auto functions"

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• Revert "fixed building issue"

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• Revert "removed DriveSubsystem.kt and add the followTrajectory method in the SwerveDrive.kt"

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• Revert "added ChoreoLib2025.json to git"

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• Revert "added a followTrajectory method in DriveSubsystem.kt"

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• superstructure, subsystems, simulation

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  elwo-boop

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  jpothen8

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• elevator sim

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  elwo-boop

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• wheel radius characterization

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• add a superstructure manager to oversee the connected subsystems

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• clean up filers for vision

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• make ktlint happy

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• simulation, superstructure constants

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  elwo-boop

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• add follower motor and update elevator ff throughout motion

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• separate elevator from elevator sim,

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  elwo-boop

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• add placeholder superstructure goals (l1-l4, premoves, intake, stow)

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  jpothen8

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• add pivot follower motor

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• sim desired motion magic profile instead of instant goal setting

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• changed manual unit conversions to use units library

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  elwo-boop

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• Merge remote-tracking branch 'origin/main'

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Commits on Jan 20, 2025

• backup autos with old structure

  jpothen8

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• elevator ff to include centripetal accel compensation

  jpothen8

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• add controller bindings and update speeds

  jpothen8

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• score l4 on drive controller

  jpothen8

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• use doglog (epilogue not supported for kotlin, monologue unsupported)

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• update vendordeps

  jpothen8

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• tweak pathing for backup auto

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• doglog vendordep

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• struct for module states

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• put field under smartdashboard

  jpothen8

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Commits on Jan 22, 2025

• refactor and instantiate intake class

  jpothen8

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Commits on Jan 25, 2025

• incomplete custom estimator for gyro based rotation and translation correction (4481 method)

  jpothen8

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• don't do gyro compensation but choose correct pose (best vs alt) and use reef tags only for single tag

  jpothen8

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• format

  jpothen8

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• use rev throughbore for wrist and pivot

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Commits on Jan 27, 2025

• add climb subsystem

  jpothen8

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• add IR sensor to intake

  jpothen8

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• only reset kraken to quad enc if real (otherwise it messes with sim)

  jpothen8

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• implement waiting based on IR sensors in backup auto

  jpothen8

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Commits on Jan 28, 2025

• use abs value for checking out of range for enc reset

  jpothen8

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• characterization routines

  elwo-boop

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Commits on Feb 3, 2025

• refactor auto to use definite reef align locations (define the left/right side of reef to align to)

  jpothen8

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• update gen-docs workflow

  jpothen8

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• update gen-docs workflow

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• update gen-docs workflow

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