team612 / 612-2016

FRC Team 612's 2016 code for First Stronghold

612-2016

Travis CI Build Status:          

Gitter Chat Room:          

This repository holds the robot code for the Chantilly Robotics FIRST Team 612 robot, competing in the 2015-2016 season game FIRST Stronghold.

##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 software used to interface with sensors, motors, and other useful objects.

Chantilly Robotics' robot also utilizes the navX-MXP board. Its library has been integrated into this project. Documentation can be found here.

##Sponsors:

Company Name	Website
IBEW	Company Website
Bechtel	Company Website
Booz 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:

Students:

Name	Github Username
Champ Dietzel (Captain)	ChampD
Benjamin Ward	WardBenjamin
Ahmad Bamba	Ahmad-Bamba
Calvin Godfrey	ggodfrey
Zach Perkins	ZachPerkins1
David Fiumano	DavidFiumano
Shaun Wu	Alexbay218
Dominic Philip	domi-a-philip
Paola Henriquez	PaolaHenriquez
Grey Golla	bobobalink
Nayana Suvarna	nls5260
Jeffrey Wang	Jeffrey-Wang
Dakshesh Nimishe	dnimishe
Aru Rajpurohit	arajpurohit
Anvitha N	anvitha2828
Goodwin Lu	Mister-GoodwinLu
Benjamin Blue	DoctorVolt
Abby Denman	AbDen

Mentors:

Name	Github Username
Zack Alfakir	ZackAlfakir
Travis Axtell	ToasterTaster

612-2016's Issues

Autonomous mode selection using driver station software

We need to write the code that can select different autonomous modes.

NavX Board created without issues

Install navx board. (calibrate it)
Write code. (new subsystem)
Use navx board in code.
Requires Roborio to work.

Fix Travis CI Build process

Right now the Travis CI build process is failing because of some change in WPILib's folder structure, as far as I can tell.

Related #12, #13, #18.

Setting up the OpenMesh radio

Set up the new wireless device for our team.

Documentation:
https://wpilib.screenstepslive.com/s/4485/m/13503/l/144986?data-resolve-url=true&data-manual-id=13503

Make ServoClamp Command

use wiki docs.

QUESTION: Subsystem list

So far, I think the list of subsystems is: drivetrain, defense mechanisms, defense locations, boulder mechanism.

Can anyone think of anything else based on the current design?

We should start wiki pages for these subsystems

Implement Network Tables

We need this in order to send our vision processing results to the robot.

Make Shifter Subsystem objects

Create DriveTrain subsystem code and docs

Need to create this subsystem and begin the documentation for it.

Navx Library linking

Fix compilation issues with travis ci.

Implement AlignToTarget

This command will auto-align the robot to face and angle it's shooter at the vision target. To do this, we will have to find a way to:

• Store bounding boxes of the targets in a way so we may recognize the same target from frame to frame.
• Decide a target at which to aim.
• Use a PID Controller to rotate the robot such that it faces towards the target.
• Calculate the distance using the height of the bounding box.
• Use the distance to approximate a launch angle at which to aim the shooter (Will require a bunch of testing).
• Fire the boulder at a consistent speed.

EVERYONE: Control system documentation reading

Review the official documentation for the control system
https://wpilib.screenstepslive.com/s/4485/m/13503

As many people as possible should know this cover-to-cover by end of week 1.

Need to update wpilib-download version

The current version is reflected by this URL:
http://first.wpi.edu/FRC/roborio/release/eclipse/plugins/edu.wpi.first.wpilib.plugins.cpp_0.1.0.201601072029.jar

The version information can be used to update the wpilib-download.sh script.

NavX Board no-lib for master merging

Transfer navx library into repository (so able to merge into master without breaking computers)

make ServoNeutral Command

This will allow the servo to be in a neutral position.

check ShooterLever wiki page.

Fix compile errors on DriveToDefense

change all mentions of TalonSRX to CANTalon.

NavX Board testing

Objective is to test NavX board code.

Write Drivetrain subsystem methods.

Use the wiki doc for more info.

EVERYONE: Install software on your personal computers

Everyone with their own computer must complete

Champ gave guidance on how to do this:
http://www.chantillyrobotics.org/forum/index.php/topic,958.0.html

Also:
https://wpilib.screenstepslive.com/s/4485/m/13503/l/145002-installing-eclipse-c-java

Leave a comment after you complete so we can inventory.

Navx Library and Board Improvement

Implement features in Navx subsystem (currently only a wrapper)
Delete robot.cpp changes and improve Navx subsystem.
Solve Navx board issues (not working reliably).

Write Drivetrain DriveJoystick command.

Use the wiki docs for more info. Note: This one is rather hard, compared to the others.

Make Shifter HighGear command

see wiki

Documentation does not properly link to WPILib source

When you click "View source" on any method or class, you at the moment can not because the source has not been uploaded, at least in the right place. This causes those links to 404.

CC @GGodfrey @toastertaster

Need to update compiler-download code

The bash script for compiler-download.sh needs to be updated to follow the new instructions available here:

http://first.wpi.edu/FRC/roborio/toolchains/FRCLinuxToolchain2016.txt

Fix ServoPush Command

Make it like ServoNeutral and ServoClamp.

Write DriveToDefense Drivetrain Command

Use wiki doc for more details.

Add more issues

Because I was bored, I decided to make this.

Fix DriveToDefense.h

Notice in the header file this code:

 #include "Commands/Subsystem.h"
 #include "../Robot.h"
 #include <CanTalonSRX.h>

And this is the compile error:

/usr/bin/arm-frc-linux-gnueabi-g++    -Wno-unused-parameter -pedantic -fPIC -std=c++1y -I/home/travis/build/Chantilly612Code/612-2016/wpilib/include -I/home/travis/build/Chantilly612Code/612-2016/src -O0 -g3 -Wall -fmessage-length=0 -g   -o CMakeFiles/FRCProgram.dir/src/Commands/DriveToDefense.cpp.o -c /home/travis/build/Chantilly612Code/612-2016/src/Commands/DriveToDefense.cpp
In file included from /home/travis/build/Chantilly612Code/612-2016/src/Commands/DriveToDefense.cpp:12:0:

/home/travis/build/Chantilly612Code/612-2016/src/Commands/DriveToDefense.h:16:25: fatal error: CanTalonSRX.h: No such file or directory

 #include <CanTalonSRX.h>

Please observe what is different in those few lines of code and make the correction. There is a reason that the CANTalonSRX is not being included correctly, see if you can spot it.

Magnus Launcher Prototyping and Research

Research and prototype whether it is feasible to implement magnus shooter. dev-magnus will house algorithms.

DriveTrain flip orientation

We've been asked to have a joystick flip so we can change the meaning of the forward/reverse directions.

• what are our options to accomplish this? flip joystick axes? invert motor outputs?
• provide recommendation to Travis for further guidance.

Make Drivetrain Command files.

So what i want you to do is go to eclipse and in the 612-2016 project, right click the project header and go to either new -> Command, or new -> subsystem in order to make the framework for the code listed here in the wiki under Drivetrain.

Change CANTalons in RobotDrive to Talons

We are using Talon SR's this year for the drive train in RobotDrive. This is because 1: we do not have enough Talon SRX's for both robots and 2: we are not using any of the SRX features on the drivetrain.

It should be as easy as changing CANTalon to Talon in RobotMap.cpp.

2016 Documentation

Last year we maintained our own copy of the WPILib documentation in a gh-pages branch. This year, we should do the same, and generate our own copy of the docs from the newest version of WPILib's Doxygen documentation.

Joystick button map

We need to document the necessary joystick buttons that we'll have.

• make a new wiki page for Joystick buttons
• discuss with drive team current button needs. Update wiki page
• are we using an xbox controller or a flight stick?
• how many joysticks are we planning on using?
• post a diagram of the joystick button mapping to the wiki page
• make edits to OI.cpp and OI.h files as necessary

Travis CI - Fix deploy or remove

Since the deploy script is causing the Travis builds to fail, it should be temporarily removed or fixed.

Make ShooterLever Susbsystem Methods

use wiki docs.

Make ServoPush Command

use wiki docs.

Make Drive method in Drivetrain

This is actually two methods that overload each other. One has the ability to take in a GenericHID object that will drive the robot using the TankDrive method of RobotDrive. The other method takes two float values between -1 and 1 that are used to drive the robot manually.

Write ArmSet command

see wiki.

Make AutoServo Command

use wiki docs

Write DriveSet Drivetrain command

Use the wiki doc for more info.

PassDefense command

For the code, we need a command that when a button on the driver is pressed, the robot can pass the defense in front of it. This requires a lot of vision and advanced level stuff, but the basics can still created now.

For this, a command needs to be made that, depending on the value of an enum, executes a different method to breech all the defenses. The enum values should be set to all the types of defenses. The methods in drivetrain would be the various ways to cross all the defenses.

This may render the BreachDefense commands obsolete. Keep this in mind.

Edit:

This is now BreachAuto

1. Make enum Defenses in Robot.h
2. In Execute of BreachAuto, make a switch statement for all values of Defenses including NONE
3. The switch statements should call methods in Drivetrain. Those methods should be designed to pass the defenses.

Defense list:

• None
• Portcullis
• Cheval de Frise
• Moat
• Ramparts
• Drawbridge
• Sally Port
• Rock Wall
• Rough Terrain
• Low Bar

Make Drivetrain Subsystem constructor and objects.

This must be done be someone who knows how command based works (what OI, command base, Robot.cpp do). Add four CANTalon objects to the constructor of the Drivetrain subsystem inside of the constructor for a RobotDrive. Also make sure to declare the Subsystem as "Drivetrain". You can use the example robot program called gearsbot to get a refrence for what to do. You will also need to modify the Drivetrain.h file to make it compile. If you need help, please ask me.

Make Shifter LowGear command

Why is this private?

Coopertition guys.

Travis CI

In order to upgrade to their new system, all commands must be done without root. This means that instead of installing the toolchain, it needs to be downloaded and then linked.

I also noticed a few more improvements that could be done:
Everything needed for FRC Travis CI could be bundled together easily.
Version of wpilib needs to be updated constantly and manually. There must be a better way.
Passing binaries could be uploaded somewhere so there is always an up-to-date binary without people freaking out about a broken compiler.

Set up RoboRIO

1. Find Spare RoboRIO
2. Install updated RoboRIO image from National Instruments (needs FRC utilities)
3. Test uploading code from Eclipse

Documentation: https://wpilib.screenstepslive.com/s/4485/m/13503
https://wpilib.screenstepslive.com/s/4485/m/13503/l/273817-updating-your-roborio-firmware
https://wpilib.screenstepslive.com/s/4485/m/13503/l/144984-imaging-your-roborio

Note: This task will be quite a bit of work. For example, this needs quite a bit of additional hardware to power the roborio and such.

Set up driver station laptop

Need someone to assign themselves to this.

1. Find the driver station laptop
2. Talk to Travis to obtain necessary license codes.
3. Uninstall old software (NI, driver station)
4. Install new software (driver station, utilities)
5. Add additional tasks as we realize them

Documentation: https://wpilib.screenstepslive.com/s/4485/m/13503
https://wpilib.screenstepslive.com/s/4485/m/13503/l/144976-frc-driver-station-powered-by-ni-labview

Make Shifter Subsystem methods and files

Travis CI failing

In constructor 'BreachLowBar::BreachLowBar()': /home/travis/build/Chantilly612Code/612-2016/src/Commands/BreachLowBar.cpp:21:11: error: 'drivetrain' is not a member of 'Robot' Requires(Robot::drivetrain.get());