Merge somt-tx,ty into Main - #13

Merged

originalhawk242 merged 72 commits into

Mainfrom

Mar 21, 2026

Commits on Mar 7, 2026

small fix
LuckyCookie274
committed
87b1a30

Commits on Mar 14, 2026

added wiggle logic
AnoushkaGharat
committed
1aabb98

Commits on Mar 15, 2026

inital global vision + sotm implementation
originalhawk242
committed
028f0ad
added megatag2 tag checking (on mobile)
originalhawk242
authored
1cc4596
fixed vision formatting and robotcontainer errors
originalhawk242
committed
0f65ddc

Commits on Mar 17, 2026

finished shoot on the move implementation, ready to test
originalhawk242
committed
7201f92
Adjusted the shooter numbers according to the new shooter

team7461
authored and
originalhawk242
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ed5acbc
Hooded shooter pid

team7461
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originalhawk242
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bcaa0be
Merge remote-tracking branch 'origin/Main' into swerve
team7461
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5fc7f5e
Merged master into swerve
team7461
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514017b
Got rid of files created in git merge
team7461
committed
250fe24
Fixed the conflicts with state machine and intake state
team7461
committed
ec87b35
Cleaned up autos
team7461
committed
8454e9c
Fixed the left bumper code
team7461
committed
3423571
fixed robot aiming with the intake
originalhawk242
committed
1781764
no longer crashes when reading april tags
team7461
committed
739a109
localization fixes
originalhawk242
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07303a7
Merge branch 'sotm_vision' of https://github.com/SushiSquad7461/2026-dango into sotm_vision
originalhawk242
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b67d3bb
Refactor vision/shooting: AutoAlign command, MegaTag2 improvements

originalhawk242
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claude
committed
493b2a8
Merge origin/swerve into sotm_vision

originalhawk242
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claude
committed
70d8783
fixed imu seeding
originalhawk242
committed
cf0f09f
fix: Rotation2d degrees bug, PRESHOOT feeder leak, gyro reset pose desync

originalhawk242
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claude
committed
c3f2190

Commits on Mar 18, 2026

updated autos
team7461
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5dab0df
Merge origin/swerve into sotm_vision

originalhawk242
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claude
committed
c6cf233
Auto
team7461
committed
ce8cf4b
fix: re-seed Limelight IMUs after gyro reset, fix pipeline latency logging

originalhawk242
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claude
committed
c5ae01e
fix: apply maxSpeed/maxAngularVelocity scaling in AutoAlign

originalhawk242
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claude
committed
19ff833
fix: AutoAlign heading frame, rotation clamping, end() stop

originalhawk242
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claude
committed
bf82382
Hood SOTM integration: auto-calculated hood angle from physics sim, fixed motor control

originalhawk242
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claude
committed
6146285
feat: update SimParameters record with hood angle sweep constants

originalhawk242
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claude
committed
cf5637f
refactor: rename ShotLUT.ShotParameters.velocity to rpm for clarity

originalhawk242
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claude
committed
46b5145
feat: add angle-sweep LUT generation to ProjectileSimulator

originalhawk242
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claude
committed
9523237
test: add ProjectileSimulatorTest for angle-sweep LUT

originalhawk242
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claude
committed
dd9543c
feat: ShotCalculator supports unified ShotLUT with hoodAngleDeg

originalhawk242
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claude
committed
9bcb1ee
feat: AutoAlign uses shot.hoodAngleDeg() from unified ShotLUT

originalhawk242
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claude
committed
3ae7779
feat: Vision uses unified ShotLUT, remove deprecated APIs

originalhawk242
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claude
committed
2b10d04
cleanup: remove dead kinematic hood angle calculation

originalhawk242
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claude
committed
897c37b
values to check on elastic
LuckyCookie274
committed
6bc175e
fixed hub constants
LuckyCookie274
committed
e3ddfe5
always rotate when isValid
LuckyCookie274
committed
bddf70e
displays last commanded hood target
LuckyCookie274
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846cd49
changed hood gear ratio
LuckyCookie274
committed
0d3e989
cleanup: remove unused Velocity import, use hoodStepDegrees constant in d-pad bindings

originalhawk242
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claude
committed
06fcadb
fix: shooter RPM API now takes flywheel RPM; apply 4:3 gear ratio in ShooterIOKraken

originalhawk242
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claude
committed
ba13770
fix: correct flywheel gear ratio to 3/4 (flywheel spins faster than motor)

originalhawk242
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claude
committed
8d89be8
config: update hood range to 0-30deg (pending experimental confirmation)

originalhawk242
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claude
committed
63fa707

Commits on Mar 19, 2026

Commits on Mar 20, 2026

pre practice field setpoints
team7461
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219d45b
changed intake angle
team7461
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5cde73e
feat: replace generated LUT with hand-tuned ShotTable for SOTM

LuckyCookie274
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claude
committed
896d320
fix: correct Red alliance gyro heading and seed pose from vision at startup

LuckyCookie274
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claude
committed
fc2d751
latest lut
team7461
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66ecca5
Merge branch 'sotm-shot-table' into sotm_vision
LuckyCookie274
committed
3cf3b2f
Merge branch 'sotm_vision' of https://github.com/SushiSquad7461/2026-dango into sotm_vision
team7461
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804583f
fix: use raw gyro heading for MegaTag2 and remove dead code

LuckyCookie274
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claude
committed
b1dab03
fix: gyro reset race condition and heading source consistency

LuckyCookie274
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claude
committed
ac8c198
fix: eliminate remaining gyro race conditions in pose init and IMU seed

LuckyCookie274
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claude
committed
2bd508e
fix: MT2 best practices — no setYaw, sanity checks, community std devs

LuckyCookie274
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claude
committed
e97d174
fix: merge MT2 best practices — no setYaw, sanity checks, community std devs

LuckyCookie274
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claude
committed
4fa575b
fix: vision/SOTM robustness — heading bootstrap, gyro offset, pose rejection

originalhawk242
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claude
committed
62f35dc
fix: pose re-bootstrap after auto and tighter vision std devs

originalhawk242
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claude
committed
98a75e2
added vision.requestRebootstrap
LuckyCookie274
committed
403a2c2
uses tx ty to align
LuckyCookie274
committed
7e66143
fixed camera yaw error
LuckyCookie274
committed
85a3972
updated shot table
team7461
committed
506ea1a

Commits on Mar 21, 2026

remove vision unit tests

originalhawk242
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claude
committed
22bafe0
fix: LUT clamp, duplicate getPose, missing AutoAlign requirements

originalhawk242
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claude
committed
1ec0e80
increased intake roller speed from 0.35 to 0.5
originalhawk242
authored
9afbdff