redhotchilibots / frc4453_2018_proj Goto Github PK

Issues were reported with the tilt misbehaving. The issue will need to be tested and fixed.

We decided to remove the shooter. The subsystem code will need to be removed along with references to it.

The wings need to have their code tested. They should lift upon hitting the left bumper and drop upon hitting the right button.

We need to update the RoboRIO's firmware in order to upload 2018 code.
#5 needs to be finished first.

The climber code must be tested on the robot.

The chassis needs to hold a heading using the AHRS. PID would be a good choice for this.

We decided to change our robot and autonomous strategy. The autonomous codewill need to be updated to reflect this.

Currently, the buttons in OI are mapped to the trigger axis. However, buttons cannot be mapped to an axis, and the values will instead be interpreted as buttons. For example, "mapping" to the left trigger actually maps to the B button (both have an id of 2).

The button for shooting the shooter needs to be mapped.
Y would be a good choice for the button, as it is currently unmapped.
Depends on #11.

Basic commands for autonomous need to be written.
These include:

• Drive Distance
• Drive Time
• Turn
• Drive and Count Cubes

We need to write as much of the climber code ahead of time, as it look like it will be the most complex subsystem in terms of software.
Actuators:

• Two motors

Sensors:

• Gyroscope

The robot will need to keep itself level while climbing, even if the robot's weight is uneven.

The shooter consists of:

• A motor to compress the spring
• A Double Solenoid to hold the shooter in place
• A limit switch to detect when the spring is fully compressed
• And a magnetic clutch that needs to be released before firing.

General operation looks like:

• The clutch engages, and the motor spins in one direction to compress the spring.
• When the limit switch is hit, the motor stops, the solenoid engages, and (a few moments later) the clutch disengages.
• The robot then waits for the command to shoot.
• When told to shoot, the robot disengages the solenoid, releasing the shooter.

Required methods:

• public void prepare() : prepare the shooter to fire.
• public void fire() : fires the shooter.

We need to update the firmware on the motor controllers in order to use the new libraries.

The drive station has old software. We need to update the drive station to the latest version.

d86861c introduced a command to control the speed of the grabber motors independently. This code needs to be tested.

The lifter needs to be able to carry two other robots. It will consist of two wings that will drop down.
From a software prespective, all that needs to be done is to drop the two wings. The wings should not be allowed to drop until endgame.

The hook code must be tested.
It needs to be able to raise, lower, and hold its position.

Since we plan on using vision code this year, vision code must be written.
The vision code must be able to identify and track power cubes on the field. Distance and direction to the cube must be calculated.
Because of our autonomous strategy, only one cube needs to be tracked at a time.

The sensors need to have their values verified.

The grabber needs code written for it. The actuators, sensors and general operation must be known first.

A command to shoot the shooter needs to be written.
It must:

1. Release the pneumatic latch.
2. Wait for some time.
3. Prepare the shooter for the next shot.

The command to prepare the shooter is already written (Shooter.PrepareCommand).