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Historically, we have opened a TCP socket between the Jetson and RoboRio to send telemetry data from the Jetson. This has caused a high failure rate due to timeouts, races, etc.

We should consider moving to USB-CDC for communication between the two controllers. The RoboRio will act as the host (USB A) and the Jetson will be a device (USB Micro-B).

It is important to have a good set of hardware and software diagnostics built into the robot. We have historically used this in the pits before each match to verify that the robot is fully functional. This should be part of the code that lives on the robot, see the testPeriodic() in Robot.java.

At minimum, this should:

• Verify drivetrain using driver station (i.e., test steering wheel and throttle)

• Verify networking between Jetson and RoboRio

• Verify elevator mechanism, including encoder positions and limit switches

• Verify ball mechanism, including both limit switches

• Verify all cameras are functional

• Verify all driver inputs are functional

Remember, you can use the drive station for user input to indicate a pass/fail for each test.

It is great to be able to log what the robot is doing and/or did, but we need to be careful about affecting the performance of the robot. We should create a logging system that has support for multiple logging levels, logs to disk on the RoboRio and optionally sends the logs to the driver station (stdout).