team4761 / 2017-robot-code

FIRST® STEAMWORKS

2017-Robot-Code

Resources

• Game and Season Materials
• Steamworks sightlines
• Photos of the field set up for kickoff (Manchester)
• 2017 Vision Samples
• roboRIO manual

2017-robot-code's Issues

Robot.java cleanup

• SmartDashboard stuff can be moved to OI (see #57)
• Initialization of hardware components ought to belong in the constructors of the subsystems
• Mid and Max auto don't really exist, so we shouldn't be initializing them
• Gyro doesn't exist anymore so we can remove that stuff Gyro is coming back
• Probably some other stuff too

LinearSetpointGenerator requires a negative velocity to go backwards

Negative distance ought to be enough.

Remove code for conveyor

Much of it is still in the code with an @Deprecated annotation. The hardware does not exist any more so the extra code should be removed.

No need for "forever" variable in MoveConveyor command.

isTimedOut() will always return false if no timeout is set.

There is a large discrepancy between the C270 webcam FOV provided by Logitech and the one we use

Of course, ours seems to work better than theirs, but we really ought to figure out what's going on here.

v4l2-ctl is unable to set exposure when SSHing into the roboRIO

This should be investigated. Other controls, such as brightness, do seem to work.

SDDumper puts lots of useless information on SmartDashboard

We should cut it down to only the stuff that we use.

General driving command

All the driving commands can be unified into one übercommand.

Remove vision stuff from Turn command

Turn should take an angle and a speed, then make it happen. It shouldn't be aware of the vision system.

We should make a TurnWithVision command if we have to.

SmartDashboard stuff belongs in OI.java

OI stands for Operator Interface. SmartDashboard is an interface for operators.

Setting exposure with CSCore has been unreliable

We should figure out another way to set exposure. Possibilities include:

• Sunglasses
• Fixing v4l2-ctl (see #54)
• Setting exposure to one value at the start then resetting it later (iffy and bad)

Arduino is being overloaded with too many values, causing LEDs to not work

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