strykeforce / infiniterecharge

2020 Infinite Recharge

2020 FIRST INFINITE RECHARGE

   

Controls

Talons

Subsystem	Type	Talon	ID	PDP
Drive	SRX	azimuth	0	6
Drive	SRX	azimuth	1	4
Drive	SRX	azimuth	2	7
Drive	SRX	azimuth	3	5
Drive	FX	drive	10	2
Drive	FX	drive	11	0
Drive	FX	drive	12	3
Drive	FX	drive	13	1
Intake	FX	squids	20	15
Intake	FX	intake	21	8
Magazine	SRX	magazine	30	9
Shooter	FX	leftMaster	40	12
Shooter	FX	rightSlave	41	13
Shooter	SRX	turret	42	10
Shooter	SRX	hood	43	11
Climb	SRX	climb	50	14

• Intake beam break routed to reverse limit switch on magazine
• Magazine beam break routed to forward limit switch on hood

Servos

Subsystem	Servo	ID
Climb	ratchet	0

DIO

Subsystem	DIO	ID
AutonSwitch	0	0
AutonSwitch	1	1
AutonSwitch	2	2
AutonSwitch	3	3
AutonSwitch	4	4
DIO Pin Missing	5	5
AutonSwitch	6	6
EventFlag	flag	8
Constants	protoBot	9

Auto Switch

Switch	Auton
0x10	no delay shoot
0x11	4 sec delay
0x12	8 sec delay
0x13	10 sec delay
0x20	trench auto
0x30	90 degree feed

infiniterecharge's Issues

Break hood and turret into separate subsystems

Parallel command groups throwing exception when requiring the same subsystem. Break apart shooter, hood, and turret so that commands can require them separately.

Turn off Lights when not using Vision

• turn off the lights when we aren't using them

Intake Reversal Updates

• up on the d-pad needs to reverse magazine and intake
• down on the d-pad needs to reverse just the intake

Remove Duplicate WaitCommands

Switch all instances of wait command to wpilib version and switch

• our version uses milliseconds not seconds so make sure to switch all times over to seconds

Initial Climb rough-out

Update climber code

Accommodate changes to hardware

Teleop Bugs

• Magazine should turn off when beam break is no longer broken during the pre-shoot sequence that pulls the balls down before spinning up the shooter

  • right now balls could jam in the magazine

• Make wait time before turning off intake longer, sometimes the intake will turn off before they have 5 balls

Hood Zero Check Commands

• check hood zero:
  • button to put hood to position 0
  • button to put hood to zero offset ticks (1820)

Galactic Search path Red-1

AutoSwitch - add comment referencing missing pin

Future readers of this code will really be scratching their heads over this without a comment...

infiniterecharge/src/main/java/frc/robot/controls/AutoSwitch.java

Line 17 in 8207e0f

if (i == 5) digitalInputs.add(i, new DigitalInput(i + 1));

Game Controller Intake Updates

• If the game controller intake button is double-pressed it needs to ignore the intake beam break
• if code mistakenly shuts off the intake early this allows the drive team to override the beam break

AutoNav Barrel Racing path

Auton shoot while moving

Stall Detection on Intake

Look at velocity on intake falcon to detect stalls and try to automatically reverse them

Galactic Search path Blue-2

AutoNav Slalom path

Galactic Search path selection logic

Galactic Search path Red-2

Lookup Table Adjust Values

• 1 constant indicating degrees to adjust the turret angle by
• for each of the 4 ranges in the piecewise lookup table:
  • 4 constants indicate ticks for 1 inch change in height of ball (1 for each region)
  • 4 constants indicating the inches the ball pattern needs to move by (1 for each region)
• implement using these constants

Galactic Search camera filters

Batter shot

Make a button that fires from right up against the goal

Optimize Teleop Sequences

• now that hood, shooter, and turret are separate subsystems more things can be in parallel
• go through and find places to speed up sequences by running things in parallel

Vision Subsystem

Create interface with Deadeye:

• logic on robot-side math for error angle
• logic on robot-side math for distance
• read-in lookup table for hood angle/shooter speed based on vision results

Event Flag

Implement event lockout flag

X-lock doesn't choose closest position

• x-lock always chooses the same encoder position on the azimuth, this causes unnecessary 360 degree rotations on the wheels
• choose the closest relative encoder position that is at the correct angle

Set up logic for Comp vs. Proto Constants

A short on DIO 9 will indicate that the current robot is the protobot. Initialize the constants that are robot-specific based on this

• right now just absolute encoder zero ticks

Auto Re-Zero Turret on Brownout

• if turret talon resets, automatically spin turret and re-zero

Speed up shooting sequence

Update RoboRio for 2021

Note: be sure to save networktable information (held in /home/lvuser/networktables.ini) to avoid losing camera config

Auto Commands

• implement trajectory generation
• stub out initial auto commands
• auto switch implementation

Turn off Shooter if going around the discontinuity in the turret

• if we have to 360 wrap around in order to not break the cable, turn off the magazine and intake so balls aren't fired during this condition
• magazine and intake need to be turned back on when we have a target again, with the same delay between them as the first time to prevent jams

AutoNav Bounce path

Dashboard Indicators

• Indicator for when we have 5 balls
• Indicator for when there is a ball at the top of the magazine
• Indicator for when the intake is stalled and we are trying to correct it

Path new autons

Switch over from toml files to PathWeaver

Convert path files to read in PathWeaver json files instead of toml filess

Color Wheel Subsystem

Create subsystem for Color Sensor

• method to calibrate colors
• logic for what direction to spin in in position control
• method to get the current color
• method to get color to spin to from driver station

Notes:

• deploying the color wheel spinner will be part of the climb subsystem
• spinning the color wheel will be part of the magazine subsystem

Auto Seek Target

If the arm sequence doesn't see a valid target by going to zero (field oriented) then scan for the target on the correct half of the field before starting to track the target

Research swerve drive kinematics

Rough out Shooter Subsystem

Rough out Subsystem:

• create all talons
• logic for turret wrapping
• method for vision to adjust turret angle
• zeroing logic for turret and hood

Path constants adjustment

We should retune the constants (ticks per inch, max velocity, etc) we use for autons.

X-Lock Command for Drive

Create a command that locks the wheels into an x-configuration and attach it to the x button on the drive controller

Stop Shooting pull turret into safe position

As part of the stop shooting sequence the turret should get pulled inside the frame perimeter in a location that works for loading balls from the human player station

Lock Wheels to Zero Command

Create a smart dashboard button for the pits that locks the wheels to zero

Clean up Climb Sequence

• ratchet needs to be different during teleop
• holding current on the climb isn't enough to keep the climber down

Healthcheck

create the healthcheck

Implement new Intake Subsystem

This includes implementing the controls for the new intake subsystem.

Create gyro offset buttons for climbing

During the climb offset the gyro so straight forward is towards the bar and strafe is along the bar

• follow diagram in readme but there is one button to set the offset and one to undo the offset

Pixel Correction calculation

infiniterecharge/src/main/java/frc/robot/subsystems/VisionSubsystem.java

Line 166 in ab5beb9

public double getPixOffset() {

This branch changes how we correct the width used for ranging based on gyro position. We do not remember what exactly the reasoning for doing this was.

Galactic search path Blue-1

Change Turret Zeroing to use String Pot

• Look to see if analog input is in a certain range for zeroing (protects against 360 degree wraps)