frc3324 / offseason2018 Goto Github PK

For example: write a DT library that takes encoder ports in the constructor and automatically initializes its setters/getters. It could also instantiate motors and make the DiffDrive setup. This could also be a subsystem extension or something else, ask @maniyar1 or @samf547 if you have questions.

As @nhaas1 noticed when trying to work on observing current, the built-in log viewer is not very useful (and written in binary! So it won't work in with any other log viewer). It would be preferable to make our own custom logging system. This system will ideally piggyback of the (obscurely documented) Shuffleboard recording features (documented here and here. Basic goal: we should be able to make a front end that checks for simple problems. Example of a simple problem: two motors on the same gearbox are using significantly different amounts of current.

Right now we are using big blocks of if-statements, it would be in our best interest to change these to switch-case statements for readability and efficiency.

Make some sort of sh script file to run clang-format on the directory and compare it to the current code. Then either me or someone else can integrate it into the Azure Pipelines to give an error when someone didn't format correctly (run the format.sh script).

We should incorporate sub-classes in Constants.java to be more clear about where constants are in. For example instead of Constants.driveTrainEncoderTicks; we can do Constants.DriveTrain.encoderTicks;. For an example look at this link.

Using strings is not very necessary. Switch these to enums so we can have custom types with better checking. Remember, strings are arrays of chars, not very robust (extension of #4 ). Also, we're using magic ints/strings which are inherently confusing and difficult to understand.

Write a vision algorithm, either on the Rio or on a separate co-processor to center a power cube (or another object). I have a baseline untested implementation using a RPi and NetworkTables done in Kotlin.
RPi code: https://github.com/maniyar1/ManiVision
Kotlin Code: https://github.com/maniyar1/3324-Kotlin/blob/master/src/main/kotlin/frc/team3324/robot/drivetrain/commands/CenterCube.kt