HuskieRobotics/3061-lib

add support for skid detection

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#117 opened on Jul 23, 2024

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enhancementhelp wanted

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Description

Implement the algorithm described by Orbit in their coding presentation that detects when the robot skids and doesn't feed the swerve module positions into the pose estimator when this condition is detected. (Or, perhaps better, feeds in the swerve module positions with a great deal of uncertainty.) IMG_7247

More details are available on this CD thread.

Contributor guide

Research direction
Study Orbit's skid detection algorithm from the referenced CD thread. Understand how swerve module positions are used in pose estimation. Implement a check that skid is occurring (e.g., based on wheel speeds or IMU data) and either skip feeding positions or increase uncertainty in the pose estimator.
Tech stack
java
Domain
robotics
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
JavaFRC conceptsOdometry
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40