@AvianAlloy

Idk it just accumulated this, I dont even know what ive done in an hour 😭 so heres a picture of one of my cats

OMG I DIDNT REALIZE MY STUFF DIDNT LOAD D:
anyway…
Ive been working on more computer vision! Im making more stuff while the hardware team works on building the robot… So, ive got processors like color blob, new tag cluster detections, and ive even started to poke at threading and future/optional stuff (I still dont understand). Once my Huskylens2 comes though, we can load a real model I made onto it from roboflow! (That blue box is what the model thinks is a robot)

Okay! my stuff doesnt work… I tried but like all the hardware map stuff just didnt work 😭 so Im gonna try and work on it over our work weekend and maybe hopefully itll work! (it wont) But Im also working on filtering blob detection. Shadows give us some ~30 detections when theres literally nothing there, so thats an issue… :P I have nothing good so lemme find a random photo from my downloads… Ehh I guess this work? A photo from our robot pov to do color calib (yes those are decode pieces with tape on them)

Yipee!! Much more work got done today, I added a bunch of new features! All of whom using new found computer vision code and processors.

1. Auto_TURN: It automatically turns to face a game piece, put it in the center of the game piece, and it will track it!
2. AUTO_FORWARD: Pretty self explanitory, but it will automatically drive toward a game piece, using PID too!
3. FULL_AUTO: Also pretty self explanitory, it automatically does both, drives forward AND rotates, effectively just going to the piece itself
4. MANUAL: Its full driver control…

(Image 1: Auto rotate controller; Image 2: Drive controller; Image 3: Enum and drive managing; Image 4: just drive mode switching)

Okay did some more vision work, got color (circle & rectangle) detection working, and I figured out I can stack color processors??? Anyway, apparently FIRST rewrote the vision stuff for BioBuzz, all about new metadata and clusters -_- I get it for the hive, but even the examples didnt work!! (the update came out four days ago I gotta chill) but now Im working on not just taking the example opmode, and actually writing my own vision stuff. Also apparently we’re gonna get a limelight 3a soon?! peak, Im so excited (Again, this picture isnt mine ) [Ooh they got round AND circular??]

Okay, so the start of the FTC season was just a few days ago, and our team finally got apriltag detection working! We were able to detect all of the ftc decode tags, but none of the biobuzz ones, yet. I think its an sdk issue, I dont really know :/ (Also this isnt our robot, this is just a picture I found because the robot isnt here) But anyway, we got a limelight 3a ordered so hopefully that comes in handy and makes our code faster…

I made a few changes:

1. I fixed a few bugs with ending paths with the A* pathing

2. I added a few unit tests to allow me to test the code without the robot

3. I added velocity profiles for the paths run, so that the robot can be tuned for paths

Update: The tests dont work at all :(

So I was able to implement Bidirectional A* pathing, from unidirectional, and Im pretty proud of the change. I also wrote a small visualizer to help show how the pathing works

I was able to write out a robot detecting class for my pathing :D