chopshop-166 / frc-2020 Goto Github PK
View Code? Open in Web Editor NEWFRC Team 166's source code for the 2020 and 2021 game, Infinite Recharge
License: MIT License
FRC Team 166's source code for the 2020 and 2021 game, Infinite Recharge
License: MIT License
ok... uh everyone update your block comments from the start of the year!
Cool, then:
Ensure ratchet engage/disengage works (Use Mocks)
Check if leader/follower uses voltage compensation
Verify lift is mapped to expected controls
Add code to handle soft-stops
RobotMap
Test NEO encoder resolution
Write code to use the IMU!
Attempt to implement velocity PID
Tune turn to angle PID
Path following for autonomous
RobotMap
RobotMap
RobotMap
RobotMap
Fully implement state machine for color transition detection
Add commands to spin 4 times and to spin to specific color
Tweak color sensor values to get best match (Identify tuning procedure)
withName()
functionHello Team 166,
Our team have a less advanced software group so we may not have the best feedback. With that, here's our feedback:
- We really like your vision code. We use auto generated code from Grip as our vision and add onto it. What are the benefits of making everything from scratch?
- Your code is really neat and readable. Very cool use of existing commands.
- You guys have a really nice elevator system.
There are a few things in master that need to be fixed: here are some of the ones I am aware of-this list can be added to later
RobotMap
Other than those few things, I think your robot code looks great.
Network tables integration
Send Boolean - seeTarget
Send Double - Scaled offset (range from -1 to 1)
Send Double - Angle to target (in Degrees where 0 is centered)
Send Double - Distance to target
Send mp4 encoded video stream to driver station (Using H.264 compression)
Improve robustness of target tracking
Figure how to run this mess on a Rasberry PI (4)
make vision debugging a smartdashboard value
Ultimate goal: Incorporate OBLOG with our code
Replace constants with configurable values
# of balls
Shooter speed Calculations
Motor temperatures, currents, setpoints (PID), Output voltages, etc (This may require modifications to ChopShopLib
Ensure analog sensors and the trigger values are sent to the shuffleboard (Both will be useful for debugging)
Investigate the hierarchy of objects it creates, ensure things are reasonably placed
Configure Shuffleboard to record when enabled
There are 4 functions in indexer that all create commands with indexMotor()
using 2 different speeds (in both directions). I'm not sure what the actual intent was, but these presumably were meant to control two different motors. If we don't need that functionality any longer the extras should be removed and the functions renamed to fit their purpose better.
RobotMap
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