Important! Autonomous.

[KenwoodFox]

There are a LOT of parts here, this will be a few late nights... Ill add resources to this issue.

Drivetrain Changes

• Configure and test swerve drive odometry is working (this also requires that Important! Swerve drive zeroing #46 is functional) https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-odometry.html
• Get PID sorted out on the drivetrain, this is almost done but may need some cleanup.
• Create a method that allows setting the voltage, rather than directly using set() for each of the drive motors
• Create any other new drivetrain methods necessary for RamseteComment to function.
• Create a "followTrajectory" method that accepts a Trajectory object and then creates and runs a RamseteCommand object to follow that trajectory

Changes in rio/autonomous for Driving

• Create a generateTrajectoryToPose method that accepts a target pose and returns a new Trajectory object that paths the robot from its current pose to the desired pose
• Create a pickupBall method that accepts a robot pose and ball location, then uses generateTrajectoryToPose, followTrajectory, and any necessary shooter/yoke commands to calculate a path to a ball, follow it, and pick it up
• Create a goToLocation method that accepts a target pose, and uses followTrajectory and generateTrajectoryToPose to take the robot to that pose
  Changes to rio/autonomous for Shooting
• Create a shootBall method that moves the robot to a predetermined location with respect to the target and shoots the ball (for now we are going to use a hard-coded pose from which to shoot, rather than using vision targets. We can add vision targets later)
• Create a findBallWithVision method that returns a list of ball locations, confidences, and distances based on current limelight info. (NOTE: We should further breakdown this step. It requires limelight setup and probably a set of other methods or classes to be built. I haven't bothered doing this yet)
• Review command groups for more details about command structure in robotpy and propose how we should use these (Adding this because I don't know enough to specify more details)

OTHER Tasks that Joe added

• Setup pathweaver routines and autonomous commands, we sort of have this already, as a note, autonomous commands should be in rio/autonomous not rio/commands but we can fix this later. Pathweaver is here: https://docs.wpilib.org/en/stable/docs/software/pathplanning/pathweaver/introduction.html

START HERE: https://docs.wpilib.org/en/stable/docs/software/pathplanning/trajectory-tutorial/index.html#trajectory-tutorial as completing this tutorial should address a lot of the boxes above.

[NotSimon5673]

@KenwoodFox would the followTrajectory method be what actually runs the ramseteCommand? I'm trying to work on some of this and don't know if I should do the other two problems above it first.

[KenwoodFox]

We'll prolly let autonomous chooser handle actuallty scheduling the ramseteCommand, see the code here: https://docs.wpilib.org/en/stable/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.html

So you wont have to implement that yourself, once you generate a trajectory, you can feed it into the constructer of a new ramsette command and it will follow it iirc