team612 / 612-2015

FRC team 612's repository for 2015 season

612-2015

This is the code repository for the Chantilly Robotics FIRST Team 612 robot competing in the 2014-2015 season game Recycle Rush.

WE MADE IT TO WORLDS!

Documentation:

Chantilly Robotics' programming team uses the C++ programming language and WPILib to program our robot. Documentation for this library can be found here. WPILib is a programming library with C++, Java, Python, and other bindings written and maintained by the Worcester Polytechnic Institute, containing useful ways of interfacing with sensors, motors, and other useful objects.

Sponsors:

Company Name	Website
IBEW	Company Website
Bechtel	Company Website
Booze Allen	Company Website
Northrup Grumman	Company Website
The Morris Family	Personal Contribution
Chipotle	Company Website
Ortho Virginia	Company Website
Paul Miller	Personal Contribution
The Hybrid Shop	Company Website
MPSC	Company Website
NVRC	Company Website
Sustainability	Company Website
Alkem Scale Models	Company Website
Chris Franke	Personal Contribution
Jen Griem	Personal Contribution

Contributors:

Name	Github Username
Zack Alfakir	ZackAlfakir
Benjamin Ward	WardBenjamin
Swaraj Dhumne	swarage
Ethan Huey	ethanhuey
Shaun Wu	Alexbay218
Calvin Godfrey	ggodfrey
Ahmad Bamba	Ahmad-Bamba
Paola Henriquez	PaolaHenriquez
Champ Dietzel	ChampD
Johnathan Wang	Jonathan5252
Zach Perkins	ZachPerkins1
Ben Nguyen	BenNgu
David Fuimano	DavidFiumano
Jeff Tolbert	JeffTolbert
Sid Sridhar	1266119
Adrian De Vera	AdrianDeVera
Nayana Suvarna	nls5260
Diego

612-2015's Issues

Inherit class SmoothJoystick frrom class OI

Make it so that all joystick stuff should be from class OI.

Left JoyStick with third Talon

Our mechanical team wanted us to test a third independent Talon

Fix Gyroscope class

Needs to add fmod to getAngle function because otherwise it will return headings of like 1000 by end of game

Correctly set up Driver Station laptop

I want someone to set up one of the E12 laptops and one of the ASUS Laptops to be a driver station.

From Ron Baer (read thoroughly)
We have 2 classmate E12 laptops as driver stations. I upgraded 1 to 2015 by re-imaging it. It has a post-it note saying 2015 driver station. I imaged the laptop and ran the Windows upgrades. It still need the Jan 2015 FRC updates applied. It also has the development station configuration. FYI, before re-imaging the 2nd classmate, I would verify that the 2015 driver station can control last year's robot. Otherwise, I would keep the 2nd classmate at 2014 driver station. Their is a orange, bootable thumbdrive in the rear pocket of the driver station laptop case, with a tag saying 2015 E12 Image. Just insert it an reboot to the thumbdrive. Instructions are also on linked to the FIRST website. Note that there may be some files to be copied off the 2nd laptop before re-imaging. I did copy a block of files of the 1st classmate.

Choose names for the software projects of the robot

I'd like a name for the:

• C++ project
• Vision processing project

Add files to the project Commands

Create the following .cpp files in the Commands folder:
ElevatorUp, ElevatorDown, ElevatorToPosition

You can use the ExampleCommand.cpp as a template for how to create these files (don't delete the example, though).

Invert Axis method in SmoothJoystick

Paola and I will make this happen.

Implement MotorSafetyHelper

Make a print statement and allow us to check up on the motors by using drivetrain->m_safetyHelper and calling the appropriate functions. Make sure to enable the safety in the drivetrain constructor and to set expiration (it is a float measured in seconds) and make it a variable declared in RobotMap.h

So:
Check and print if it is alive
Set the safety
Set the expiration

Create 2 programmed Elevator positions to carry totes (changed via button push)

Get the camera working on the robot (viewable on the Driver station laptop)

Add OI Stuff

PDB Class

Create a class that will monitor the power draw of the PDB and the analog breaker for power

Debug the MotorSafetyHelper Timeout

There is an issue where the code crashes because of a timeout in motor safety. We need to keep the safety on because if we don't have it on, it can lose control.

All members must install and correctly configure IDE and toolchain.

See my guide at https://github.com/Chantilly612Code/612-2015/wiki/Instructions-for-IDE-setup for completion. Post a comment on this issue if help is required.

Creating files in the project Subsystem

Create new source file for

• Subsystems
  • DriveTrain

Latch.cpp/.h and Elevator.cpp/.h are in the wrong folder

The 4 files are in the Commands folders, but these are not commands. They belong in the Subsystems folder.

Rather than deleting the files (using git rm), you should use git mv to move the files to the appropriate directory.

Implement SmoothJoystick

Done
(maybe not well, but done)

Vision algorithm exploration with several images of the totes

Create code for Pneumatic Fork Lift

Needs two commands closeForks() and openForks()

Create datalogging of joystick and motor values

CommandGroup to approach the tote, latch the tote

WPILib has a CommandGroup class that performs a series of individual Commands. What we desire here is to show that we can drive forward (perhaps until the camera sees the tote centered as in #92 ) and then latch onto the tote.

See https://chantilly612code.github.io/612-2015/class_command_group.html for documentation

Elevator programming

The elevator will need some work on the programming. An elevator with a lot of weight on it (i.e., several crates) will have a tendency to sag over time and lower. Since we're going to have a sensor to measure the vertical position of the elevator, we'll be able to determine if this is occurring and to lift the elevator automatically. This would allow us to maintain height.

We can also do some work to ease the elevator into full speed and out of speed. We'd want to do this to prevent stability issues. We may also want to limit the elevator speed based on the speed of the robot (driving fast + lifting a lot of weight fast could be unstable).

We could also imagine several preset positions for the elevator such that stacking crates is a little easier.

Command to move the robot based on camera information

If we have a camera with a view of the tote, we'd ideally like to center the robot to the tote. We could really use a Command that commanded the motors to move based on reading some variables from the NetworkTable.

For the first attempt, assume we get an x and y pixel coordinate and that we wish to move the robot such that x tends to a value xDesired and y tends to yDesired

Show me what you got!

Implement sensors

Add sensors and stuff

Investigate using LEDs on the robot as feedback to the driver

Install Roborealm on your computer

Who is interested in working on vision ?

I have the new RoboRealm licenses, but only a few computers can have it installed. So need to determine who is going to do this.

Deploy code to the RobotRIO. Demonstrate it runs on reboot.

Test Mecanum Drive

Our second autonomous mode

We only have one autonomous mode, so let's get another one made.

I leave it to your discretion as what the robot performs, but it should be more than the first autonomous mode.

Set up the camera for the robot

It probably needs to be configured correctly according to the WPI screensteps live website.

See about getting it working with the robotrio after it is configured.

Consolidate ports.h and RobotMap.h

These two files seem to serve the same purpose, so I would consolidate to one.

Set up one of the E12 netbooks

Add a url to the project README.md for documentation

Since Zach has posted updated documentation to the gh-pages branch, we should put a link to the web address for it https://chantilly612code.github.io/612-2015/ in the README.md file.

Rather than just pasting the URL in the file, add a section on Documentation and include a description of what this documentation is related to. You'll have to use Markdown syntax to do this correctly. GitHub also has some Markdown guidance.

Creating the most simple autonomous

After #24 is closed, create the code in the appropriate file for

• a simple Autonomous to drive forward for 4 seconds and stop. Implemented as a Command AutonomousSimple

Robot.cpp does not compile in master. Feeeexxxx eeettttt.

Mecanum drive programming options

After our visit to Oakton, we might hear about what they have done. We can look online for existing implementations, or work on our own if necessary.

Who wants to work on this?

Creating files in the project Commands

Using separate commits, create the files for:

• Commands
  • Drive
  • AutonomousSimple

Implement ElevatorRaise & ElevatorLower commands

Add files to the project subsystems

In the Subsystems folder, create the .cpp files for:
Elevator, Latch

Correctly set up D-link router

Use the D-link router configuration tool to set up the D-link.

Add sponsors to README.md

the branch doc-README has some improvements to the README.md file. I think it would be prudent to add the team's sponsors to the README. Do so above the list of contributors.

Use PDB information to disable non-critical robot features if necessary

Deploy the master branch to the RobotRIO demo board ...

And verify that we don't have any runtime errors yet for the robot code.

This needs to happen after Champ does #88 .

All members must enable notifications on the programming forum

After logging into the Chantilly forums, Click Programming, On the right side click Notify (above the list of threads).

Also do this for the Announcements topic.

Leave a comment below that you have done this.

Latch Open and Close

I'll start working on this when Calvin moves Latch to the correct file

Create LatchOpen and LatchClose Commands

I think Paola did this yesterday, but I don't see it in any recent GitHub commit where I see these files. So please check to see the files get added.

Set up the ASUS laptop

Update all CAN firmware on both sets of RobotRIO hardware.

Champ, when you do the second set, I want you to have 2 of the Freshmen do it with you guiding them over their shoulder.

Add entries to .gitignore

Add .cproject, .project, .build.properties, build.xml and .settings/ to the .gitignore

Prevents decent collaboration while these file changes are tracked

Mechanical asked for test code for two talons