Competition changes from hofstra (#101)

* upload test limelight config

* upload hofstra limelight configuration

* upload sam's perfect little hofstra limelight configuration

* add port forwarding for limelight [SLOW]

* add updated hofstra pipeline

* extend the get ball path to the competition field

* revert shooting wait time to default

* add led for start of climb routine

* add forwarding for all limelight ports

* hardcode shuffleboard again

* bring path back by 2 inches

* Fix Match Ending LEDs

* Spotless Apply

* make color sensor less aggressive

* add led swap mode

* add led swap to shuffleboard

* shuffleboard?

* update climb time led

* add more end gmae time-based leds

* fix order of leds

* add min match time for leds and clean code

* adjust shot distance to be closer

Co-authored-by: Prog694 <prog692@gmail.com>

PathWeaver/FiveBallAuton/PathWeaver/Paths/FiveBallGetTerminalBalls.path

@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 5.3,-6.2296,-2.0,0.0,true,false,
-1.29,-6.8896,-1.6,-1.96,true,false,
+1.2,-6.9696,-2.5,-3.0,true,false,

PathWeaver/FiveBallAuton/PathWeaver/Paths/FiveBallGetWallBall.path

@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 7.7,-6.5496,0.0,-1.2,true,false,
-7.7,-7.6796,0.0,-1.2,true,false,
+7.7,-7.7296,0.0,-1.2,true,false,

PathWeaver/FiveBallAuton/PathWeaver/Paths/FiveBallShootTerminalBalls.path

@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-1.29,-6.8896,-1.74,-1.43,true,true,
+1.2,-6.9696,-1.5,-1.75,true,true,
 7.9,-6.529599999999999,-0.75,-3.0,true,true,

limelights/Hofstra.vpr

@@ -0,0 +1,68 @@
+area_max:10
+area_min:0
+area_similarity:60
+aspect_max:4
+aspect_min:1.0
+black_level:0
+blue_balance:500
+calibration_type:0
+contour_grouping:2
+contour_sort_final:2
+convexity_max:100
+convexity_min:50
+corner_approx:5.000000
+crop_x_max:1
+crop_x_min:-1.000000
+crop_y_max:0.8
+crop_y_min:-0.45
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Hofstra
+desired_contour_region:0
+dilation_steps:1
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+force_convex:1
+hue_max:60
+hue_min:45
+image_flip:0
+image_source:0
+img_to_show:1
+intersection_filter:0
+invert_hue:0
+multigroup_max:3
+multigroup_min:3
+multigroup_rejector:0
+pipeline_led_enabled:1
+pipeline_led_power:100
+pipeline_res:1
+pipeline_type:0
+red_balance:2500
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:190
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:190
+x_outlier_miqr:0.1
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:0.2

limelights/test.vpr

@@ -0,0 +1,64 @@
+area_max:10
+area_min:0
+area_similarity:24
+aspect_max:5
+aspect_min:1
+black_level:0
+blue_balance:500
+calibration_type:0
+contour_grouping:2
+contour_sort_final:2
+convexity_max:100
+convexity_min:20
+corner_approx:5.000000
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:1
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+force_convex:1
+hue_max:76
+hue_min:35
+image_flip:0
+image_source:0
+img_to_show:1
+intersection_filter:0
+invert_hue:0
+multigroup_max:3
+multigroup_min:3
+multigroup_rejector:1
+pipeline_led_enabled:1
+pipeline_led_power:100
+pipeline_res:1
+pipeline_type:0
+red_balance:2500
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:200
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:150
+x_outlier_miqr:0.1
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:0.5

shuffleboard.json

@@ -43,6 +43,17 @@
               "_source0": "network_table:///SmartDashboard/Pump/Compressor Enabled",
               "_title": "SmartDashboard/Pump/Compressor Enabled"
             }
+          },
+          "9,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Toggle Switch",
+              "_source0": "network_table:///SmartDashboard/Swap Rainbow",
+              "_title": "Rainbow Swap?"
+            }
           }
         }
       }
@@ -1300,9 +1311,9 @@
     }
   ],
   "windowGeometry": {
-    "x": -7.199999809265137,
-    "y": -7.199999809265137,
-    "width": 1550.4000244140625,
-    "height": 838.4000244140625
+    "x": -6.400000095367432,
+    "y": 1.600000023841858,
+    "width": 1547.199951171875,
+    "height": 828.7999877929688
   }
 }