strykeforce / chargedup

2023 FIRST CHARGED UP

2023 FIRST CHARGED UP

   

Controls

Interlink Controller (old)

Flysky Controller (new)

CAN Bus

Subsystem	Type	Talon	ID	Comp PDP	Proto PDP	Motor	Breaker
Drive	SRX	azimuth	0	9	8	9015
Drive	SRX	azimuth	1	11	12	9015
Drive	SRX	azimuth	2	8	9	9015
Drive	SRX	azimuth	3	10	11	9015
Drive	FX	drive	10	0	6	falcon
Drive	FX	drive	11	19	15	falcon
Drive	FX	drive	12	1	7	falcon
Drive	FX	drive	13	18	14	falcon
Intake	FX	intake rollers	20	15	16	falcon
Intake	SRX	extend	21	12	13	bag
Shoulder	SRX	left main	30	3	2	550
Shoulder	SRX	right follow	34	16	19	550
Elevator	FX	left main elevator	31	2	5	falcon
Elevator	FX	right follow elevator	32	17	17	falcon
Elbow	FX	left main elbow	33	5	4	falcon
Elbow	Canifier	canifier	15	23	23	-
Hand	SRX	hand	40	7	3	550
Hand	SRX	rollers	41	6	3	johnson x2

• elbow uses remote encoder attached to canifier
• forward limit switch on hand roller is Cone beam break
• reverse limit switch on hand roller is Cube beam break

Roborio

Subsystem	Interface	Device
Drive	USB	NAVX

DIO

Subsystem	name	ID
Auto	autoSwitch	0
Auto	autoSwitch	1
Auto	autoSwitch	2
Auto	autoSwitch	3
Auto	autoSwitch	4
Auto	autoSwitch	5
Vision	White LEDs	6
RGB	RED	7
RGB	Green	8
RGB	Blue	9

MXP

Subsystem	name	ID
Robot	BNC	0

chargedup's Issues

Turn off Red LEDs once gamepiece dropped or return to stow

• currently if autodrive fails, LEDs stay RED until another color commanded

WMRI Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• photonvision (link)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• wallEYE published to mavenLocal

Software Release

• Create a GitHub release version and tag.
• WallEYE release version and tag
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• usb hub
• usb to ethernet dongle
• event interlock

Cables

• HDMI Cables (2)
• micro HDMI adapter
• ethernet short (1) (1 - pit)
• ethernet medium (5) (2x pit, 3x practice field)
• ethernet 25ft (1 - pit)
• ethernet 100ft spool (1 - practice field)
• USB cable A and B

Spare Parts

Pit Items

• navX V2 (main electronics tote)
• VRM (main electronics tote)
• beam breaks (sensor tote)
• Raspberry Pi camera ribbon cable (2) (camera tote)

Yellow Tote Items

• roboRIO
• radio
• Raspberry Pi
• OV9281 camera (2)
• old mounting hardware for photonvision
• Orange Pi
• OV2311 USB camera

Cone closing rearchitect

When grabbing a cone follow these steps:

• close to the full close soft limit
• look for velocity to drop below threshold
• change to percent output at a known percent to hold the position

Initial Creation of Elevator Subsystem

• two falcons (left = main, right = follow, inverted polarity) to drive up/down
• shuffleboard commands for bring up
• open/closed loop control
• zero by running into the top of the elevator hard stop

To Stow when interrupting cube intake doesn't close hand

Initial 2 Gamepiece + Charge Station Auto Paths

• initial path for following auto starting on left side:
  • score preload cube on top row
  • path to closest staged gamepiece in middle (pick up cube)
  • path back to score on top row
  • path onto charge station from inside community
  • balance on charge station

Elevator Height Adjust - Operator Controller

Adjust elevator setpoint by some known number of ticks as joystick is pressed on operator joystick
allows manual adjust if the cone is grabbed at a different height to be sure cone will score

Add indicator boolean for cone/cube to dashboard

Speed up Arm Motion Magic

We have stable tuning for faster accel and velocity - gradually up the speed

Initial Odometry/Auto Path Implementation

• path drive command and holonomic controller
• testing of path drive + odometry
• inverting of paths for red vs blue alliance
• testing of path inversion

Initial Creation of Shoulder Subsystem

• talon to rotate elevator at base
• shuffleboard buttons for bring up
• closed loop/open loop commands
• zeroing

FROST Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• photonvision (link)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

• Create a GitHub release version and tag.
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• usb hub
• usb to ethernet dongle

Cables

• HDMI Cables (2)
• micro HDMI adapter
• ethernet short (1) (1 - pit)
• ethernet medium (5) (2x pit, 3x practice field)
• ethernet 25ft (1 - pit)
• ethernet 100ft spool (1 - practice field)
• USB cable A and B

Spare Parts

• event interlock
• roboRIO
• navX V2
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

St Joe Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit

Cables

• HDMI Cables (2)
• ethernet short (4)
• ethernet 25ft (1)
• ethernet 100ft spool (1)
• USB3 cables A and B

Spare Parts

• event interlock
• roboRIO
• navX
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

Auto: Bump Side - 2 gamepiece auto

• score preload
• acquire a cube from middle
• drive back with path
• score using auto place (odometry will be off from cable bump)

Initial Creation of Hand Subsystem

• one side of gripper = stationary, other side driven by talon
• hand sprung open, driven closed
• talon zeros by driving into hard stop (full closed)
• shuffleboard commands for bring up
• closed/open loop methods

Comp Logging Setup

• set up file logging if bnc isn't present
• on proto always don't do file logging (no bnc)

Full Healthcheck Implementation

• swerve drive (timed)
• intake rollers (timed)
• intake extend (position)
• elevator (position)
• elbow (position)
• shoulder (position)
• hand (position)
• hand rollers (timed)

Lakeview Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

• Create a GitHub release version and tag.
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit

Cables

• HDMI Cables (2)
• ethernet short (4)
• ethernet 25ft (1)
• ethernet 100ft spool (1)
• USB3 cables A and B

Spare Parts

• event interlock
• roboRIO
• navX
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

Auto Balancing in Auton

• play with omni-mount vs flat mount for roborio
• check which axis to look at
• test to see if just driving to odometry position is sufficient
• if odometry insufficient tuning of loop around gyro angle

Auto Place Command Infastructure

• use odometry to align to desired scoring location
• get desired scoring location from robot state subsystem (cone vs cube, left vs right, 1 vs 2 vs 3)
• account for offset of gamepiece vs robot center
• will be initiated when in front of the relevant grid

Hand HealthCheck

• Put hand wide open
• Close to zero really slow (cruise = 100)
• check straight across

Initial Creation of Drive Subsystem

• creation of swerveDrive using thirdcoast
• teleop drive command
• x-lock command
• toml file parsing for auto
• grapher implementation

Add follower talon to shoulder

• update shoulder tuning
• add right follower talon
• use aux sensor follower mode

States Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

• Create a GitHub release version and tag.
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit

Cables

• HDMI Cables (2)
• micro HDMI adapter
• ethernet short (4)
• ethernet 25ft (1)
• ethernet 100ft spool (1)
• USB3 cables A and B

Spare Parts

• event interlock
• roboRIO
• navX
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

Initial Operator Controller Commands

Implement button mapping for initial operator controller

Initial Creation of Vision Subsystem

• photonlib interface to photon vision
• pose estimator updates from vision
• strategy to determine which april tag to use and when april tag is accurate enough
• initial experiments with hardware for photonvision

IRI Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• photonvision (link)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

• Create a GitHub release version and tag.
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• usb hub
• usb to ethernet dongle

Cables

• HDMI Cables (2)
• micro HDMI adapter
• ethernet short (1) (1 - pit)
• ethernet medium (5) (2x pit, 3x practice field)
• ethernet 25ft (1 - pit)
• ethernet 100ft spool (1 - practice field)
• USB cable A and B

Spare Parts

• event interlock
• roboRIO
• navX V2
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

Houston Packing List

Software Version Check

Confirm the required versions of the following are correct on the competition robot or driver stations as approriate.

• Driver Station (3 laptops)
• WPILib GradleRIO version in build.gradle (link)
• vendordeps/WPILibNewCommands.json
• vendordeps/thirdcoast.json (link)
• Photonvision SD cards with image (2)
• Photonvision USB with settings zip (2)
• vendordeps/photonlib.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navX.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)

Software Release

• Create a GitHub release version and tag.
• Pull requests merged or update milestone no next event
• Robot Code
• Photonvision cal and settings archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• camera calibration board
• spare april tags
• metric measuring tape
• microfiber cloth (clean camera lens)
• ethernet switch for Pit

Cables

• HDMI Cables (2)
• micro HDMI adapter
• ethernet short (4)
• ethernet 25ft (1)
• ethernet 100ft spool (1)
• USB3 cables A and B

Spare Parts

• event interlock
• roboRIO
• navX
• radio
• Raspberry Pi
• OV9281 camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks

Initial Robot State Subsystem

• saves left vs right input from drive team
• saves desired scoring level (2 vs 3) from drive team
• in auto level could be 1, 2, or 3
• saves current game piece (known based on whether we got from human player shelf vs floor)
• commands to set these values

Don't let hand drop gamepiece until arm is in position

Separate Cone/Cube placement positions

Lvl 2 cone and cube need to be different

Initial Creation of Intake Subsystem

• 1 falcon to spin any portions of the intake used to bring in gamepieces
• 2 talons (right follows left) to bring intake in and out
• beam break on main talon forward limit switch for detecting gamepiece presence
• command to toggle intake
• shuffleboard commands for bring up

Auto Shelf Fails - Reinitiate Arm shouldn't go to Stow

If arm is already staged for shelf, don't re-stage arm

Manual Shelf -> Intake

Arm stays in shelf, intake goes to intake

Auto Shelf Fails - Doesn't kick into states for manual

• if auto shelf fails, the robot should still close the hand if Tori drives close enough to trip the sensor

Initial Creation of Elbow Subsystem

• two falcons (left = main, right = follow, invert polarity)
• shuffleboard commands for bring up
• canifier with remote encoder for closed loop
• zero with remote encoder but this is 1:1 with shaft so don't need banana sensor
• open/closed loop interface

Auto: Middle start - 1 gamepiece + balance & mobility

• start in middle
• score preload
• drive over bridge entirely (have bumpers exit community)
• drive back and balance on bridge

Elevator Zeroing

• add a command to zero elevator (use this in auto)
• in tele init check if elevator has been zeroed, if not automatically kick off zeroing

Initial Arm Constraints Implementation

• dynamic soft limits for shoulder/elevator/elbow subsystems
• state machine to track overall arm state
• interface for outside user to request high level arm states that drive lower-level subsystem positions