Ground intake#105

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Lyssia-Seiden wants to merge 66 commits intomainfrom

Commits on Mar 27, 2025

first pass at coral ground state
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Commits on Mar 28, 2025

adjust mech viz to use new ee
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adjust hp intake pose
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add clearance for hp extension
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begin trying to use ik to not have to redo setpoints (it brokey rn)
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fix getManipulatorPose (?)
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tune reef setpoints
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Commits on Mar 29, 2025

first pass tuning reef algae intaking
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fix bindings for coral ground
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use proper indexing
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import zeroing offset from cad
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make shoulder wait for wrist to not be retracted to begin clearance extend
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make auto use ground intake for ✨testing✨ reasons
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turn down shoulder + wrist speed for bring up
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start tuning positions irl
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more tuning on robot
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adjust l1
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Merge branch 'ground-intake' of github.com:HighlanderRobotics/Reefscape into ground-intake
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adjust algae on robot
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Commits on Mar 30, 2025

use stops for floor intake
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ground intake tuning
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tune hp pose
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more adjustments for new ee robustness
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adjust l2 and l3 setpoints
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adjust setpoints, clearance extension
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fix not retracting after l2/3 scoring
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reenable current limits, adjust l4 pose
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tune barge shot
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tune stack intake, fix ik at max extension (?)
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update ratio
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run spotless

Lyssia-Seiden
authored and
github-actions[bot]
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Commits on Mar 31, 2025

update more setpoints
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make wrist use hardstop for ground, reenable left bumper align controls
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make ready coral use hp pose, wrist use pid before hardstop
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adjust wrist zero offset with shims
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Merge branch 'ground-intake' of github.com:HighlanderRobotics/Reefscape into ground-intake
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Commits on Apr 2, 2025

redo zeroing offset
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increase manipulator current limit
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increase wrist accel and add soft limit to try to avoid catching it
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revert accel increase
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adjust tucked clearance shoulder pose, increase filtering for ik
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try to avoid jitters when starting extendWithClearance near target
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Commits on Apr 3, 2025

hardcode auto prescore to true because it wasnt working otherwise for some reason????
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move auto prescore condition to Robot instead of goofy ah binding
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abstract checking for tuck
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adjust climb so it works 🔥🔥
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wait better for reextension
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make sure that robot waits to retract after coral score
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tune processor a bit
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try to improve funnel behavior
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reenable ground piece in auto
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turn off ik by default and when in l1
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make ground intake traj wait for prev scoring
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try to avoid slams when entering score_coral when alr extended
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Commits on Apr 4, 2025

fix hop when switching from clearance to ik hold
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allow cancelling out of l4
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delay wrist movement in some cases
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try to avoid l4 fucking itself again
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reduce skipping steps elevator tolerance
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try to avoid l1 killing itself
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tune hp intake more again 😭
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add manual zeroing
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tune auto to be slower and smoother
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speed up auto a smidge
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mirror lhs auto changes to rhs
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adjust slow speed again
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