Velocity imu test -> master#262
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# Conflicts: # src/main/java/frc/robot/Robot.java
DanielShapir
commented
Jun 7, 2026
DanielShapir
commented
Jun 7, 2026
hillelv
requested changes
Jun 7, 2026
DanielShapir
commented
Jun 20, 2026
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| private final TimedValue<Pose2d> lastEstimatedPose; | ||
| private final TimedValue<ChassisSpeeds> lastEstimatedVelocity; |
hillelv
reviewed
Jun 20, 2026
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| if (ToleranceMath.isNear(new ChassisSpeeds(), rawVelocity, WPILibPoseEstimatorConstants.ESTIMATED_VELOCITY_TOLERANCE)) { | ||
| lastEstimatedVelocity.setValue(new ChassisSpeeds()); |
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0.5 m/s is a very high deadband for this
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| } else if ( | ||
| ToleranceMath.isNear(lastEstimatedVelocity.getValue(), rawVelocity, WPILibPoseEstimatorConstants.ESTIMATED_VELOCITY_TOLERANCE) | ||
| ) { | ||
| lastEstimatedVelocity.setValue( | ||
| new ChassisSpeeds( | ||
| (rawVelocity.vxMetersPerSecond + lastEstimatedVelocity.getValue().vxMetersPerSecond) / 2.0, | ||
| (rawVelocity.vyMetersPerSecond + lastEstimatedVelocity.getValue().vyMetersPerSecond) / 2.0, | ||
| (rawVelocity.omegaRadiansPerSecond + lastEstimatedVelocity.getValue().omegaRadiansPerSecond) / 2.0 | ||
| ) | ||
| ); | ||
| } |
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why avarege the velocities if they're close?
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| // If neither condition is met, it is a massive vision spike. We do NOT update the value, preserving the safe velocity. | ||
| lastEstimatedVelocity.setTimestamp(timestamp); |
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if you're filtering spikes you should do it by acceleration and not by velocity
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| public ChassisSpeeds getFieldRelativeEstimatedVelocity(ChassisSpeeds swerveVelocity) { | ||
| if (useEstimatedVelocity(swerveVelocity, lastEstimatedVelocity.getValue())) { | ||
| return lastEstimatedVelocity.getValue(); | ||
| } | ||
| return swerveVelocity; | ||
| } | ||
|
|
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| private boolean useEstimatedVelocity(ChassisSpeeds swerveVelocity, ChassisSpeeds estimatedVelocity) { | ||
| return !ToleranceMath.isNear(swerveVelocity, estimatedVelocity, WPILibPoseEstimatorConstants.ESTIMATED_VELOCITY_TOLERANCE); | ||
| } |
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| public ChassisSpeeds getFieldRelativeEstimatedVelocity(ChassisSpeeds swerveVelocity) { | ||
| if (useEstimatedVelocity(swerveVelocity, lastEstimatedVelocity.getValue())) { | ||
| return lastEstimatedVelocity.getValue(); | ||
| } | ||
| return swerveVelocity; | ||
| } |
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