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The SIM mode was not separately gated behind an `else`, so REAL mode was double-adding pose estimates.
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Apparently, the gyro with the new pose buffering is having problems, too. 🤦 |
* Add GSG instructions related to building the Pi Box * Limit stall current * Begin the vision documentation * Minor Nits to vision docs * Update vision docs --------- Co-authored-by: Lewis Ruskin <Lew.ruskin”@gmail.com>
* Update PhotonLib * Update YAGSL * Revert Phoenix libraries to non-replay versions -- YAGSL no longer depends on the replay versions of the Phoenix 5/6 libraries. * Update PhotonLib to 2026.2.2
* Add a "RBSI-standard" AdvantageScope layout -- Primarily for tournament troubleshooting by CSA's. * Revert drivebase power port assignments -- No changes to be pushed to teams in case they already updated these in their templated code.
Bumps com.diffplug.spotless from 8.1.0 to 8.2.0. --- updated-dependencies: - dependency-name: com.diffplug.spotless dependency-version: 8.2.0 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps com.diffplug.spotless from 8.2.0 to 8.2.1. --- updated-dependencies: - dependency-name: com.diffplug.spotless dependency-version: 8.2.1 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
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That plot (purple exploding to tens of thousands of feet) is exactly what you see when the time-alignment math is applying the odometry delta in the wrong reference frame. The fused pose stays sane because it’s only aligning aw camera estimates (which are usually already close to odom), but the smoother repeatedly re-aligns already-fused field poses across a sliding window — and a small frame mistake turns into a huge “ping-pong” once you do it over and over.
Got the pose buffering cleaned up and working. Next step is to clean the code so that it's easy to read and clean up any extraneous additions.
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Next step: clean up the logging to remove extraneous debug statements.
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Fix the pose bug described in #140 .
The background is that the combination of vision with the new pose buffer causes wild oscillations in the
Pose2dYAW of the robot, even when the robot is physically not moving.In Progress
This PR is still in progress.
Closes #140.