Calculate mechanism delay more properly and actually let us shoot during shoot on the move

[aidnem]

Current Situation

• Mechanism compensation delay is zero, but if it were to be used, it would be added to the time of flight
• We aren't able to shoot a lot of the time during shoot on the move, even when it seems like we should be able to
• We're doing a 1st order approximation of flight time, while it might be better to iterate a couple times to converge on a better solution (not sure about this one, it seemed like it made the shot when we tested it)

Improvements to make

• Use a twist to calculate our mechanism compensation delay as a twist2d instead of just adding it to flight time, as described here.
• Play around with whether or not we should gate the turret position at all (or maybe give it a massive tolerance).
• Optionally, calculate 1 shot that includes our "lookahead" / mechanism compensation time and command the subsystems for that shot, but check against the shot WITHOUT lookahead time for shot gating. This is because we're aiming for a shot in the future while checking against a shot in the present.

[godmar]

Would you want to retune the shotmaps for that first after the turret is fixed?

[aidnem]

Would you want to retune the shotmaps for that first after the turret is fixed?

Yes. My plan for today is:

A) If robot can drive:

• 1: Test the turret gear ratio change; make sure the turret can actually aim at the hub; probably bump vision std devs up until it doesn't jitter/push field elements around/cover 2/3 cameras if needed
• 2: Jump down to B
• 3: If nathan's auto stuff is ready to test, merge main into it and test it. The auto climb stuff should be able to go onto this branch if we get the climber to work.
• 4: (skip here if auto stuff not ready) test where on the field the robot can shoot accurately; retune shot map as needed; test shoot on the move. <-- this task might get moved after B) depending on the vibe of shop tonight.
  B) (skip here if robot can't drive or after doing A) Fast integration tasks:
  - test & tune climber bang-bang controller to see if it can climb more reliably and merge
  - Integrate transfer rollers and merge
  - Get 1 person to begin work on an autonomous climb command (should be ~10 minute task if we're skillful)
  - Jump back up to A.3
  C) Work on fixing more cycle time issues/adding featureflags for debug-only logging fields and such

[godmar]

Would there be time for Theta to integrate #81 ?

[aidnem]

@godmar yes. I didn't know it was ready yesterday but I'll add it to the list. Do you think it would be more proper for me to put this list under #74