chopshop-166/frc-2023

FRC Team 166's source code for the 2023 game, Charged Up

frc-2023-training

frc-2023's Issues

Autonomous integration

Command list

add the commands for your subsystem here to allow for drafting of a keymap.

Auto creation work

Autos to make:

• [2] Score preload -> charge station (14-18)
• [3] Score preload -> out of community (pickup?) (9)
• [2] Score preload -> charge station -> pickup (out of community)-> charge station (17-21)
• [1 or 3] Score preload -> pickup (out of community)-> place piece (15)

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[1] = starting position near barrier
[2] = starting position in middle (in front of charge station)
[3] = starting position side near judging table (wire run)

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Dashboard

We should use @JoeJanickiChSh 's setup with network tables and PyGame? to create a custom dashboard. Shuffleboard is alright for debugging, but a custom one can probably be more useful for drivers

Alternative option is FRC Web Components

Vision/Auto

• Combine vision pose estimation with odometry
• Add driveTo command
• Add driveToNearestPosition command
• Get all the axes flopped and swapped correctly
• Get proper rotation filtering
• Get drivePID actually working
• #34

Scouting System

• Figure out how to create a test event
• Connect and configure all of the tablets to Roblu
• Run the test event
• Fill out all of the forms
• Sync all of the tablets
• Figure out how to do it all offline
• Export a CSV of the data
• Figure out what the CSV looks like
• Figure out how to mess with the data properly
• Write down how we did all of the above

Pose estimator class

• Odometry
• vision
• magic pose soup

Balance Base

Need help debugging. Currently, I have:

public void balance() {
        double angleStuff = Gyro.getAngle();
        //^^Lets pretend this works
        if (angleStuff > 0){
           Drive.drive(0.5, 0, 0);
        }
        else if(angleStuff < 0){
            Drive.drive(0.5, 0, 0);
        }
        
    }

LED

We need a way to communicate what game piece we want from the human player.
We may want to indicate other robot conditions to the driver

• Robot tipping/balance indicator
• Have game piece

These should be accomplished with addressable LEDs as they are simple to wire and program with built-in support.

Required Commands:

• Light up Orange
• Light up Purple

Positional PID for arm rotation

When the arm isn't being actively run, it slowly lowers because of gravity. Look into having positional PID to hold the current position

District Champs To Do

• Get on charge station in auto.
• Drive PID refinement/Profiled PId
• Pick up game piece 2
• Make arm PID faster
• Fix absolute encoder. (#66)
• Double-check all height values.

Refine work for week 5

• Presets
• Ground cube pickup
• Check stow retract
• Refine other pickup presets
• Check that intake spins when we want it to? Same with stow
• PID

Make Drive go BRRR

We can probably increase the max speed of our drive. We should see what speeds we can actually reach.

Pathplanner

Investigate using Pathplanner for generating paths - it looks like it adds support for event points that you can use to trigger commands.

Telescoping Arm Extension

• Create motor object
• Command to extend arm manually
• Command to extend arm with a bang-bang controller
• Command to extend arm with PID
• Command to move to each scoring location
• Soft limit command
• safeState command
• Create ArmMap
• Test bang-bang controller
• Test PID controller
• Merge with Finn
• #21
• More testing
• Tune extension motion

LEDs

Use LEDs for relaying information to the drivers

Drive

• Slow drive mode
• acceleration limits to prevent tipping
• turn to cardinal direction

Tune extension motion

Arm Safety

• Current limit on intake
• Arm doesn't allow extending when it's fully folded up
• Claw can't open when arm is fully folded up
• Arm won't go fully inside when claw is open
• Don't allow spinning arm motors while grabbing a cone

Balance

I'm just going to make this so it's here for whoever works on this.

Command to stop the arm before it crashes into the ground

This will require interaction between the Arm and the ArmRotate subsystems (probably via NetworkTables)

Rotate Arm

current year robot motors

purpose	motor	Type	PDH slot
drive back right	1	Sparkmax	1
steering back right	2	Sparkmax	0
canCoder back right	1	CanCoder
drive back left	3	Sparkmax	19
steering back left	4	Sparkmax	18
canCoder back left	2	CanCoder
drive front right	5	Sparkmax	3
steer front right	6	Sparkmax	2
canCoder front right	3	CanCoder
drive front left	7	Sparkmax	17
steer front left	8	Sparkmax	16
canCoder front left	4	CanCoder
intake claw	9	Talon SRX	14
arm rotation	10	Sparkmax	4
arm extension	11	Sparkmax	13
Gyro	1	Pigeon
Pnumatic hub	1	Pnumatics	15

Intake

• Pneumatics control
• subsystem that allows drivers to open and close intake
• set up base sensor controls