Merge branch '2024-beta' of https://github.com/frc868/houndutil into …

…2024-beta
frc868 · Jan 10, 2024 · d0c26c6 · d0c26c6
2 parents 576054b + 074e85f
commit d0c26c6
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Showing 5 changed files with 41 additions and 40 deletions.
diff --git a/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java b/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java
@@ -80,8 +80,10 @@ public AprilTagPhotonCamera(String name, Transform3d robotToCam, PhotonCameraCon
     public Optional<EstimatedRobotPose> getEstimatedGlobalPose(
             Pose2d prevEstimatedRobotPose) {
         PhotonPipelineResult result = photonCamera.getLatestResult();
-        // result.targets.removeIf((target) -> target.getPoseAmbiguity() > 0.2);
-        // result.targets.removeIf((target) -> target.getFiducialId() > 8);
+        // result.targets.removeIf((target) -> target.getPoseAmbiguity() > 0.2);w
+        result.targets.removeIf((target) -> target.getBestCameraToTarget().getTranslation().getNorm() > 7);
+        // result.targets.removeIf((target) ->
+        // target.getBestCameraToTarget().getTranslation().getZ() > 1);
         targetCount = result.targets.size();
 
         photonPoseEstimator.setReferencePose(prevEstimatedRobotPose);
@@ -92,7 +94,7 @@ public Optional<EstimatedRobotPose> getEstimatedGlobalPose(
                     robotToCam);
         } else {
             detectedAprilTags = new Pose3d[0];
-            estimatedRobotPose = new Pose3d(-100, -100, 100, new Rotation3d());
+            estimatedRobotPose = new Pose3d(-100, -100, -100, new Rotation3d());
         }
 
         if (photonEstimatedRobotPose.isPresent())
@@ -128,13 +130,14 @@ public Matrix<N3, N1> getEstimationStdDevs(Pose2d estimatedPose, Matrix<N3, N1>
             return estStdDevs;
         avgDist /= numTags;
         // Decrease std devs if multiple targets are visible
-        if (numTags > 1)
-            estStdDevs = multiTagStdDevs;
-        // Increase std devs based on (average) distance
-        if (avgDist > 4 && numTags == 1)
+        if (avgDist > 4)
             estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
-        else
-            estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 5));
+        else {
+            if (numTags > 1)
+                estStdDevs = multiTagStdDevs.times(1 + (avgDist * avgDist / 5));
+            else
+                estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 5));
+        }
 
         return estStdDevs;
     }

diff --git a/src/main/java/com/techhounds/houndutil/houndlib/subsystems/BaseShooter.java b/src/main/java/com/techhounds/houndutil/houndlib/subsystems/BaseShooter.java
@@ -9,8 +9,6 @@ public interface BaseShooter {
 
     void setVoltage(double voltage);
 
-    public Command spinAtCurrentVelocityCommand();
-
     public Command spinAtVelocityCommand(Supplier<Double> goalVelocitySupplier);
 
     public Command setOverridenSpeedCommand(Supplier<Double> speed);

diff --git a/src/main/java/com/techhounds/houndutil/houndlib/swerve/KrakenCoaxialSwerveModule.java b/src/main/java/com/techhounds/houndutil/houndlib/swerve/KrakenCoaxialSwerveModule.java
@@ -182,7 +182,7 @@ public double getDriveMotorPosition() {
 
     @Override
     public double getDriveMotorVelocity() {
-        return driveMotor.getVelocity().getValue();
+        return driveMotor.getVelocity().getValue() * SWERVE_CONSTANTS.WHEEL_CIRCUMFERENCE;
     }
 
     @Override

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.1.1",
+    "version": "2024.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.1.1"
+            "version": "2024.1.2"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.1.1",
+            "version": "2024.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
@@ -1,13 +1,13 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "24.0.0-beta-1",
+    "version": "24.1.0",
     "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
     "conflictsWith": [
         {
             "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "24.0.0-beta-1"
+            "version": "24.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -39,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -52,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -65,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -78,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -91,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -104,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -117,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -130,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -143,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -158,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -173,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -203,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -218,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -233,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -248,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -263,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -278,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -293,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -323,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.0.0-beta-1",
+            "version": "24.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,