strykeforce / rapidreact Goto Github PK

Add in ability to transition to a manual mode

• manual input by drive team to ignore color sensor
• incorporate into intake state machine logic

• currently if a single frame returns a non-valid target the turret kicks back to SEEK_LEFT
• during shooting the cargo will pass in front of the camera image and other disturbances could happen as well
• need a count of non-valid images before kicking from AIMING/TRACKING -> SEEK_LEFT

Create health check command for the robot

Add in check for BNC flag to decide whether to start up grapher and pit commands, also change logging structure

During AutoIntake Seqeuence:

• if second cargo picked up is not ours - can reverse lowerMagazine and intake to eject it before having to shoot
• needs to check if the ignore flag is on for color sensor

Additional Eject Cargo Button:

• use unused A button to attach a cargo eject sequence
• identical to a fender shot low sequence except turret doesn't turn 90deg to eject opponent cargo
• addresses concerns about opponent cargo getting ejected from the field

• currently no accounting for upper/lower fender shot sequences - need to add in logic

Need a quick way to adjust chunks of the lookup table mid-competition

• last year: had 4 different distance "zones" and had a hood tick adjustment for each zone
• can't do this until have initial lookup table to set up zones and know if just hood tick correction is sufficient

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)
• Deadeye Jetson software
• Deadeye cloned SD-card images (2)
• vendordeps/deadeye.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navx_frc.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• vendordeps/REVLib.json (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Shuffleboard config archived in robot repo
• Deadeye pipeline config archived in robot repo
• README hardware assignments up to date

Packing Checklist

Pack the following items to take to event.

• Backup copy of all software releases (USB)
• Driver Station laptops (3)
• Driver Station power supplies (3)
• Laptop with Grapher (for fieldside pitting)
• Controller case (2 controller sets)
• USB thumb drive
• Velcro measuring block
• digital protractor
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse

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
• Jetson Nano
• Raspberry Pi camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs

This has a big change that is important since synchronized is used in multiple libraries we depend on (WPILib, Deadeye, etc...)

The Java runtime (JRE) on the roboRIO has been downgraded to the 2021 release to fix a deadlock issue. This was the actual root cause of the joystick bug in the 2022 kickoff release, and can also affect team code that uses Java synchronized blocks in other places. GradleRIO in 2022.4.1 projects will check the installed JRE on deploy and replace it with the 2021 version if necessary. Thanks to @sciencewhiz for isolating the issue and @ThadHouse for the GradleRIO fix.

Link to release notes

Currently, during development, we re-throw a RuntimeException.

Encoder vs Motor Polarity check

• azimuths
• lower magazine
• turret
• upper magazine
• hood
• climb shoulder

Soft Limit Check

• turret
• hood
• climb shoulder
• climb extend (static & mobile)

Turret

• check axis zeroing
• update logic based off of actual total wrap range on turret
• update kP in vision tracking sequence
• check seek angles

Hood

• check axis zeroing

Vision

• check angle of camera for target visibility
• get updated quadratic fit for pixel width vs ground distance

Climber

• check zeroing sequence
• check manual climb functionality/button mapping
• add bar-sense logic
• tune auto climb mid logic
• tune auto climb high logic
• tune auto climb traverse logic

General

• update all talon parameters per Jerry's spreadsheets
• get sane values for all of the constant speeds/positions
• get lookup table values
• get correct speeds in constants file
• update current limits
• update closed loop tuning parameters
• check functionality of all drive team buttons

Intake Sequence

• check upper beam break polarity vs rotation direction
• lower beam break vs color sensor position
• change upper/lower magazine to closed-loop setpoints
• color sensor values (may need to add opaque panel opposite sensor)
• upper beam break position (may need to switch to actual limit switch to stop faster)
• timing of state transitions

Shoot Sequence

• change upper/lower magazine to use closed-loop setpoints
• check upper beam break feed speed and ball position with beam break
• check full state machine transition logic
• update time delay for ball exit

Fender Shot Sequence

• get setpoints for upper/lower fender shot
• check turret angle for opponent cargo

Auto

• check auto switch selection sequence
• tune in 2 cargo auto from all start positions

Drive

• set NavX orientation to vertical
• zero azimuths

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)
• Deadeye Jetson software
• Deadeye cloned SD-card images (2)
• vendordeps/deadeye.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navx_frc.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• vendordeps/REVLib.json (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Deadeye pipeline config 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
• mini vision target
• metric measuring tape

Cables

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

Spare Parts

• event interlock
• roboRIO (1.0 and 2.0)
• navX
• radio
• Jetson Nano
• Raspberry Pi camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks
• color sensor

Climb Subsystem consists of 3 axes: 2 sets of extendable arms - 1 set has a static angle fixed relative to the robot, 1 set has an angle set by the 3rd motor

• open and closed loop methods for each motor
• zero each axis (low current limit drive into hard stop to zero)

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)
• Deadeye Jetson software
• Deadeye cloned SD-card images (2)
• vendordeps/deadeye.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navx_frc.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• vendordeps/REVLib.json (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Deadeye pipeline config 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
• mini vision target
• metric measuring tape

Cables

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

Spare Parts

• event interlock
• roboRIO (1.0 and 2.0)
• navX
• radio
• Jetson Nano
• Raspberry Pi camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM
• beam breaks
• color sensor

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)
• Deadeye Jetson software
• Deadeye cloned SD-card images (2)
• vendordeps/deadeye.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navx_frc.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• vendordeps/REVLib.json (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Shuffleboard config archived in robot repo
• Deadeye pipeline config 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
• metric tape measure
• ethernet switch and 120v inverter
• Grapher NUC, keyboard and mouse
• mini vision target

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
• Jetson Nano
• Raspberry Pi camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs

readCargoColor() always identifies the ball as red or blue - no accounting for no ball being present at the time the color sensor looks for a ball

Intake goes to reversing speed (from end() method) after picking up a second cargo which is not ours

• bug in the isFinishrd() where isMagazineFull() that returns true in the brief moment where we have an opponent cargo

A setAzimuthRotation2d(Rotation2d) method was added to SwerveDriveModule. It sets the azimuth angle to the given value and the drive speed to zero. If an angle and non-zero speed is desired, use setDesiredState().

Update the Third Coast vendordeps version to 22.1.0 and please check:

• tele driving
• auton driving
• wheel lock

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)
• Deadeye Jetson software
• Deadeye cloned SD-card images (2)
• vendordeps/deadeye.json (link)
• roboRIO
• navX firmware (link)
• vendordeps/navx_frc.json (link)
• CTRE firmware (link)
• vendordeps/Phoenix.json (link)
• PDP firmware (link)
• vendordeps/REVLib.json (link)

Software Release

Create a GitHub release version and tag.

• Pull requests merged or update milestone no next event
• Robot Code
• Deadeye pipeline config 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
• mini vision target

Cables

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

Spare Parts

• event interlock
• roboRIO (1.0 and 2.0)
• navX
• radio
• Jetson Nano
• Raspberry Pi camera (2)
• Raspberry Pi camera ribbon cable (2)
• camera LED driver block
• camera LEDs
• VRM

• need to add in auto selection/scheduling based off of auto switch

We should either update execute() to use the scaled inputs or remove the code that calculates it.

• calculate tangent velocity of swerve to use with a feed forward to turret position
• use gyro rate to turn robot yaw into a feed forward on turret position

• can't implement until lowerMagazine is changed to a falcon
• automatically kick off auto intake once shot is done
• automatically re-start autointake after stopping the reversing of intake
• operator button binding just moves in/out intake

• allow for 2 different shot solutions (left/right side of bar)
• camera can't see target to aim so preset shot

currently arming only kicks off turret tracking and some initial shooter speed, can start adjusting per vision during this as well

Refactor to use the WPILib MathUtil.applyDeadband() in place of our custom dead-end() method here.

• allow drive team to press shoot prior to stopping and automatically kick off shot when robot is under some velocity
• also check that pixel width (and thus shooter setpoint is not changing a lot)

Found while running the event checklist. Current version is 5.21.1, we have 5.20.2 installed.

Implement state machine for shooting in shooter and magazine subsystems

Magazine

• only feed cargo when turret is pointing at target and shooter is at speed/hood position
• if cargo colors are different only turn on upper magazine
• add indication of our cargo color

Shooter

• arm shooter to spin up to nominal speed before shooting
• have state to indicate that shooter is fully armed
• state to indicate still adjusting hood/kicker/shooter setpoints
• state to indicate ready to shoot
• get shoot setpoint either from lookup table or a known speed/hood for opponent cargo based on next cargo color

ours: 2020.0.0
current: 1.0.0