chopshop-166 / frc-2020 Goto Github PK

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

• Identify and configure reasonable current limits on all devices (Logging should help identify any issues with these)
• Advanced compressor control to ensure it's not running during pushing matches
• We may need pressure transducer to ensure we don't run out of air (then we could have leak detection!) As well as safety to ensure we don't try to actuate pistons when we don't have enough air (See here)
• Create a software PID version of PIDSpeedController
• Create Writeups (as listed in discord)
• When 2021 patch releases, update commands to use withName() function

• Fully implement state machine for color transition detection

• Add commands to spin 4 times and to spin to specific color

• Tweak color sensor values to get best match (Identify tuning procedure)

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

Ultimate goal: Incorporate OBLOG with our code

• Replace constants with configurable values

• # of balls

• Shooter speed Calculations

• Motor temperatures, currents, setpoints (PID), Output voltages, etc (This may require modifications to ChopShopLib

• Ensure analog sensors and the trigger values are sent to the shuffleboard (Both will be useful for debugging)

• Investigate the hierarchy of objects it creates, ensure things are reasonably placed

• Configure Shuffleboard to record when enabled

• Network tables integration

• Send Boolean - seeTarget

• Send Double - Scaled offset (range from -1 to 1)

• Send Double - Angle to target (in Degrees where 0 is centered)

• Send Double - Distance to target

• Send mp4 encoded video stream to driver station (Using H.264 compression)

• Improve robustness of target tracking

• Figure how to run this mess on a Rasberry PI (4)

• make vision debugging a smartdashboard value

Vision

• One optimization I could find that could be beneficial is to preallocate memory for your image matrices (bgr, hsv, and binary) outside of the while loop, so that you aren't allocating approximately 2MB of memory multiple times per second, which should help increase the framerate.

Robot

• Is there a reason why you chose to use inline commands for every command instead of having a commands folder for the more complicated ones? That should increase readability.
• Is there a reason why you chose not to use the new RobotContainer rather than putting everything in Robot.java?

Other than those few things, I think your robot code looks great.

Changelog

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

There are a few things in master that need to be fixed: here are some of the ones I am aware of-this list can be added to later

• Pierre doesn't run when shoot is held Test solution
• X button doesn't have anything assigned to it (Should shoot at full power) Test Solution
• Fix vision python script names

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

• Ensure ratchet engage/disengage works (Use Mocks)

• Check if leader/follower uses voltage compensation

• Verify lift is mapped to expected controls

• Add code to handle soft-stops

Hello Team 166,
Our team have a less advanced software group so we may not have the best feedback. With that, here's our feedback:
- We really like your vision code. We use auto generated code from Grip as our vision and add onto it. What are the benefits of making everything from scratch?
- Your code is really neat and readable. Very cool use of existing commands.
- You guys have a really nice elevator system.

• Team 3045

• Remove Elevator code
• Purge control panel code
• Clean up maps
• Clean up robot.java

• Test NEO encoder resolution

• Write code to use the IMU!

• Attempt to implement velocity PID

• Tune turn to angle PID

• Path following for autonomous

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class

There are 4 functions in indexer that all create commands with indexMotor() using 2 different speeds (in both directions). I'm not sure what the actual intent was, but these presumably were meant to control two different motors. If we don't need that functionality any longer the extras should be removed and the functions renamed to fit their purpose better.

ok... uh everyone update your block comments from the start of the year!
Cool, then:

• Vision documentation overview (show how we implemented it)
• RPM documentation

• List of Inputs (Sensors)
• List of Outputs (Motors, Pneumatics)
  • RobotMap
• List of Actions (Commands)
• Integrate Commands into Robot class