The schemes and machinations are complete

Co-Authored-By: Jack Jewell <[email protected]> Co-Authored-By: lydiahays <[email protected]>
Greater-Rochester-Robotics · Mar 10, 2024 · a183d5f · a183d5f
1 parent 124b842
commit a183d5f
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Showing 26 changed files with 8,594 additions and 4,873 deletions.
diff --git a/advantagescope.json b/advantagescope.json
@@ -205,6 +205,12 @@
             "key": "NT:/GRRDashboard/Subsystems/Swerve/Visualizations/visionTargets",
             "sourceTypeIndex": 0,
             "sourceType": 5
+          },
+          {
+            "type": "Green Ghost",
+            "key": "NT:/GRRDashboard/Subsystems/Swerve/Details/speaker",
+            "sourceTypeIndex": 0,
+            "sourceType": 5
           }
         ],
         [
@@ -249,7 +255,7 @@
         "cameraIndex": -1,
         "fov": 50
       },
-      "configHidden": true,
+      "configHidden": false,
       "title": "Field"
     },
     {

diff --git a/autos.chor b/autos.chor
diff --git a/dashboard/src/ntStores.ts b/dashboard/src/ntStores.ts
@@ -24,17 +24,15 @@ export const HasNote = nt.subscribe<boolean>(`/GRRDashboard/Subsystems/Pivot/Det
 
 export const RobotPosition = nt.subscribe<number[]>(`/GRRDashboard/Subsystems/Swerve/Visualizations/robot`, [0, 0, 0]);
 
-export const TunableNoteVelocity = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, 5);
-export const TunableNoteVelocityPub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, `double`, 5);
-export const TunableNormFudge = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, 0.9);
-export const TunableNormFudgePub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, `double`, 0.9);
-export const TunableSpeakerXFudge = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, 0.0);
-export const TunableSpeakerXFudgePub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, `double`, 0.0);
-export const TunableSpeakerYFudge = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, 0.0);
-export const TunableSpeakerYFudgePub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, `double`, 0.0);
-export const TunableAmpXFudge = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpXFudge`, 0.0);
-export const TunableAmpXFudgePub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpXFudge`, `double`, 0.0);
-export const TunableAmpYFudge = nt.subscribe<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpYFudge`, 0.0);
-export const TunableAmpYFudgePub = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpYFudge`, `double`, 0.0);
+export const TunableNoteVelocity = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, `double`, 6);
+export const TunableNormFudge = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, `double`, 0.475);
+export const TunableStrafeFudge = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableStrafeFudge`, `double`, 0.95);
+export const TunableSpinCompensation = nt.publish<number>(
+    `/GRRDashboard/Subsystems/Swerve/Details/tunableSpinCompensation`,
+    `double`,
+    -2 * (Math.PI / 180),
+);
+export const TunableSpeakerXFudge = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, `double`, 0.0);
+export const TunableSpeakerYFudge = nt.publish<number>(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, `double`, 0.0);
 
 nt.connect();
diff --git a/dashboard/src/tabs/Tunables.svelte b/dashboard/src/tabs/Tunables.svelte
@@ -1,41 +1,35 @@
 <script lang="ts">
     import {
         TunableNoteVelocity,
-        TunableNoteVelocityPub,
         TunableNormFudge,
-        TunableNormFudgePub,
+        TunableStrafeFudge,
+        TunableSpinCompensation,
         TunableSpeakerXFudge,
-        TunableSpeakerXFudgePub,
         TunableSpeakerYFudge,
-        TunableSpeakerYFudgePub,
-        TunableAmpXFudge,
-        TunableAmpXFudgePub,
-        TunableAmpYFudge,
-        TunableAmpYFudgePub,
     } from "../ntStores";
 
     const onNoteVelocityBlur = (e: FocusEvent) => {
-        $TunableNoteVelocityPub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+        $TunableNoteVelocity = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 
     const onNormFudgeBlur = (e: FocusEvent) => {
-        $TunableNormFudgePub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+        $TunableNormFudge = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 
-    const onSpeakerXBlur = (e: FocusEvent) => {
-        $TunableSpeakerXFudgePub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+    const onStrafeFudgeBlur = (e: FocusEvent) => {
+        $TunableStrafeFudge = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 
-    const onSpeakerYBlur = (e: FocusEvent) => {
-        $TunableSpeakerYFudgePub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+    const onSpinCompensationBlur = (e: FocusEvent) => {
+        $TunableSpinCompensation = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 
-    const onAmpXBlur = (e: FocusEvent) => {
-        $TunableAmpXFudgePub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+    const onSpeakerXBlur = (e: FocusEvent) => {
+        $TunableSpeakerXFudge = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 
-    const onAmpYBlur = (e: FocusEvent) => {
-        $TunableAmpYFudgePub = Number(decodeURIComponent((e.target as any)?.innerText).trim());
+    const onSpeakerYBlur = (e: FocusEvent) => {
+        $TunableSpeakerYFudge = Number(decodeURIComponent((e.target as any)?.innerText).trim());
     };
 </script>
 
@@ -48,17 +42,17 @@
         <p>Norm Fudge:</p>
         <code contenteditable on:blur="{onNormFudgeBlur}">{$TunableNormFudge}</code>
         <br /><br />
+        <p>Strafe Fudge:</p>
+        <code contenteditable on:blur="{onStrafeFudgeBlur}">{$TunableStrafeFudge}</code>
+        <br /><br />
+        <p>Spin Compensation:</p>
+        <code contenteditable on:blur="{onSpinCompensationBlur}">{$TunableSpinCompensation}</code>
+        <br /><br />
         <p>Speaker X:</p>
         <code contenteditable on:blur="{onSpeakerXBlur}">{$TunableSpeakerXFudge}</code>
         <br /><br />
         <p>Speaker Y:</p>
         <code contenteditable on:blur="{onSpeakerYBlur}">{$TunableSpeakerYFudge}</code>
-        <br /><br />
-        <p>Amp X:</p>
-        <code contenteditable on:blur="{onAmpXBlur}">{$TunableAmpXFudge}</code>
-        <br /><br />
-        <p>Amp Y:</p>
-        <code contenteditable on:blur="{onAmpYBlur}">{$TunableAmpYFudge}</code>
     </div>
 </main>