team581 / offseason-2023-bot-1

Team 581's offseason bot 1 code for the 2023 offseason

Team 581's 2023 Charged Up offseason bot 1 robot code

Team 581's offseason bot 1 code for the FRC 2023 Charged Up game.

offseason-2023-bot-1's Issues

Add AdvantageKit logging for shoulder

Blocked by:

• #5

We should add in some logging to the shoulder subsystem in robotPeriodic(), which records a few values to help debug & tune via AdvantageKit.
The values we probably want to record are:

• Velocity
• Angle
• Goal angle
• Stator current
• Applied voltage

Add button bindings

Blocked by #8

Set PID values to 0

In preparation for robot bringup, we should make sure all the PID values for motors are set to 0, so there are no dangerous movements when we first start tuning. Swerve is the exception here, since we know the values for that are tuned properly. Everything else (shoulder, wrist, etc.) should have the PID values set to 0, if they're not already.

Add cone flinging

Support scoring low on either side automatically

We can only score mid and high from a single side on the robot. We always intake from the side opposite of that.

Because scoring low doesn't require much extension of the superstructure, we can score low from the front or back of the robot.

We should make code that automatically scores on whichever side of the robot is facing toward the grids when scoring low.

So, if you're facing forward and you try scoring low, it should score on the front of the robot.
And if you're facing backwards when you try scoring low, it should score on the back of the robot.

This means that the driver won't need to worry about turning around when doing low node cycles.

Use Rotation2d in wrist

Update the wrist to use Rotation2ds instead of doubles to ensure there are no bugs from mismatched units.

Port over swerve from Spike

Add AdvantageKit logging for wrist

Blocked by #4

We should add in some logging to the wrist subsystem in robotPeriodic(), which records a few values to help debug & tune via AdvantageKit.
The values we probably want to record are:

• Velocity
• Angle
• Goal angle
• Stator current
• Applied voltage

Superstructure collision avoidance

Blocked by #5

Instantiate SwerveSubsystem in Robot.java

Add swerve modules and swerve subsystem to Robot.java

Use intake motor velocity to detect game pieces

Now that #3 is finished, we can start implementing some of the more complicated behavior.
For this feature, we want to use the intake motor's velocity to detect when game pieces enter/exit the intake, to help with automation.

Most likely we want to implement this by reading in the motor's velocity, passing it through a linear filter, and then checking if it is below/above a threshold.

We wrote very similar code to this on Spike which used the motor's current, but that was less reliable than using the sensor velocity.

Finish lights subsystem

Blocked by #20

Dependency Dashboard

This issue lists Renovate updates and detected dependencies. Read the Dependency Dashboard docs to learn more.

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Warning

Renovate failed to look up the following dependencies: Failed to look up maven package org.junit.jupiter:junit-jupiter-api, Failed to look up maven package org.junit.jupiter:junit-jupiter-params, Failed to look up maven package org.junit.jupiter:junit-jupiter-engine, Failed to look up maven package org.littletonrobotics.akit.junction:junction-autolog.

Files affected: build.gradle

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Open

These updates have all been created already. Click a checkbox below to force a retry/rebase of any.

• Update dependency gradle to v8.5
• Update plugin com.diffplug.spotless to v6.23.3
• Update actions/setup-java action to v4
• Click on this checkbox to rebase all open PRs at once

Detected dependencies

github-actions

.github/workflows/ci.yml

• actions/checkout v4
• actions/setup-java v3
• gradle/wrapper-validation-action v1
• actions/checkout v4
• actions/setup-java v3
• gradle/wrapper-validation-action v1

gradle

settings.gradle

build.gradle

• edu.wpi.first.GradleRIO 2023.4.3
• com.peterabeles.gversion 1.10.2
• com.diffplug.spotless 6.22.0
• org.junit.jupiter:junit-jupiter-api 5.8.2
• org.junit.jupiter:junit-jupiter-params 5.8.2
• org.junit.jupiter:junit-jupiter-engine 5.8.2
• org.littletonrobotics.akit.junction:junction-autolog 2.0.0

gradle-wrapper

gradle/wrapper/gradle-wrapper.properties

• gradle 8.4

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Initial implementation of intake

Refactor swerve to use Phoenix 2024 API

Instead of using the swerve we've DIY'd, use the new Phoenix 2024 API, which has a premade swerve subsystem and additional tooling for working with swerve.

https://pro.docs.ctr-electronics.com/en/latest/docs/yearly-changes/yearly-changelog.html#swerve-api

Initial implementation of wrist

Update CAN IDs in Robot.java

Use this spreadsheet as a reference for the CAN IDs to use on the offseason bot.

Initial lights subsystem implementation

Fix intake game piece detection

Game piece detection doesn't' work at all, it never detects the game pieces

Add current limits to wrist

Add current limits to the wrist motor.

We want to use a supply current limit of 35A

Add AdvantageKit logging for intake

Blocked by:

• #3

We should add in some logging to the intake subsystem in robotPeriodic(), which records a few values to help debug & tune via AdvantageKit.
The values we probably want to record are:

• Velocity
• Goal IntakeState
• Held game piece
• Stator current
• Applied voltage

Moving subsystems to robot.java

Initial implementation of shoulder

Initial implementation of superstructure manager

Convert swerve module class to use NEOs