strykeforce / infiniterecharge Goto Github PK

• 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

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

This includes implementing the controls for the new intake subsystem.

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.

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

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

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

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

• 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

• 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

• 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

• 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

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

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

• 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

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

Make a button that fires from right up against the goal

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

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

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

create the healthcheck

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

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

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

Implement event lockout flag

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

Accommodate changes to hardware

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

• 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

Rough out Subsystem:

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

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

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

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

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

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

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