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I still need to fine-tune the new algorithm, it's not the best right now.
Also fixed coral rollers' lack of release() calls
When a command has the .onlyIf() and a .finallyDo() the .finallyDo() should come before the .onlyIf(), not after. Otherwise, the .finallyDo() will be called even when the regular action never happened. The command must be declared IN FULL before it's restricted. Adding .finallyDo() modifies the behavior of the command, so it comes before the command is restricted.
Separated subsystem SmartDashboard puts and gets by groups For example, there's now a coral group that contains all the coral updates. In the future, a wrapper class could be used, like our Logger (org.slf4j) that would easily enable/disable smart dashboard writes for nonessential stuff.
This also creates the package frc.robot.subsystems.algae, which contains everythign for algae.
create package frc.robot.subsystems.coral
We were getting messages about not using FILE appender, so I commeted it out.
This breaks up simple stuff, like the IO wrapper for cameras, and apriltag-related stuff. This should help to avoid redundant code, or a super large vision/ folder. All vision that has to do with localization is in a localization package, and anything that uses april tags has AprilTag in the name. This creates large-ish names, so formatting across the project may need to be remedied.
This better matches all other IO structures in code; there's no reason the camera io shouldn't be the same.
This introduces a system that can compute the field-relative position of algae from object detection, so it's pretty neat.
This shouldn't have much of an impact on CPU performance. Every cycle,
it runs the Runnable () -> {}, so it's really not doing much. However,
if something happens and it looks like the robot's lagging again, we can
comment out the line in robotPeriodic() to disable even that.
This allows us to change just how fast the robot is allowed to spin.
- also added slow autopilot. - I have to find a better way to do Modifiers becase they're the most verbose thing in the history of ever
bczdog
approved these changes
Jul 7, 2025
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This looks good, but definitely needs more testing and review