oastem / crescendo2024 Goto Github PK

To score a game piece in Crescendo, it would make the driver's job easier if the robot aligns itself to the April tag. Using PID, the robot can align itself both in distance and angle to the April tag and just shoot.

When the swerve is rotated, the swerve based snaps slowing the base down. Likely to do something with optimize or PID.

• Optimize Function
• Swerve Rotational PID

May be caused be other issues.

To score notes, a shooter will launch the game pieces into the goal and speaker, getting rings into the robot from the intake.

Using the PathPlanner program, it allows the robot to compute and execute more complex autos. The current state of auto so far is that it will not execute properly in the desired direction and distance. Could be something to do with PID or the way it is declared.

Autonomous path for multiple potential alliances

Create some sort of documentation for our robot in the future to know what it does.

Also clean up the codebase so that stuff is more grouped together per section.

return pid vaules for new robot base

Unaligned = Orange
Aligned = Green
Doesn't detect = Red

If moved, and becomes unaligned, green -> orange
If moved and is undetected, green/orange -> red