lyncas/discoarchive

FIRST Robotics Competition Code Archive for the 2011 to 2014 Games

discoarchive's Issues

Improve gyro navigation

We need:

1. Driving commands should run in a thread so they don't have to use immediate return. This allows the regulator to correct the encoder turns with gyros. OR think about how to make the command non blocking without immediate return.
2. Update heading using gyro at the end of moves (this is how it works in the master branch). The problem is that many moves are happening for some reason, so this update at move end gets stuff messed up. We want to figure out some way to do this so that headings and positions are actually accurate. Right now all the jitter in the gyro gets accumulated onto the heading instead of being cleaned up at the end like this would do.

Add and test pathfinding for AutoJockey

Robot must stay in a rectangle and be able to move to randomly chosen waypoint around preprogrammed obstacles.

Begin working on SmartDashboard Robot Mapper

Dallas Regional - Final Code

we need to zip up Dallas Regional code and carefully archive in case we want to compare against videos.

Closed-loop holonomic

We need to get 2011 robot to drive straight.
TODO:

• learn how to use PID controller
• Get robot velocity vector for use in PID controller. Things to try: See what 2011 does (if anything), thread errors causing poor response?, trapezoidal integration, FPGA accumulator.
• Tune PID
• Profit

Second Controller

Xavier wants buttons mapped to the second controller.

Need to fix holonomic.

Wrong things are being negated according to Paul.

Need to test Driving

Fix AutoShoot

Auto shoot is intended to do these things:

-shoot a certain number of frisbees total
-wait a minimum amount of time after a shot before shooting the next to allow speed to dip
-shoot when speed is onTarget()
-shoot after a maximum amount of time if shooter never returns to target speed.

Bug: Shoots immediately no matter what.

Get gyro working with Disco Slide

Need to add code for and configure LEDs which Andrew will bring

Control LEDs and communicate with CRio

First learn how to do things with Arduino, then try to learn how to control normal or addressable LEDs and communicate with the CRio so we can select patterns.

Need to test pneumatics

testing code for prototypes on Junior Jockey

testing code for pneumatic prototypes and arm collectors on Junior Jockey

Add AutoJockey into 2013

Connect Router to Robot

Get Full Court Button tested on Robot

Get camera working and track target

• Choose a software
• make a target
• get LEDs
• track target.

Add sensor based obstacle mapping and avoidance to AutoJockey

Use sonars to detect obstacles, stop robot, and add them to the obstacle map so they will be avoided on future paths.
Also consider adding obstacle presence confidence that decays if obstacle not detected on subsequent drive-bys.

Move electrical connection port numbers to HW class

Fuse gyro readings with encoder readings to get accurate heading.

We need to find a way to merge accurate gyro headings with encoder headings in differentialpilot or odometryposeprovider to turn correctly.

Set up pneumatics code for drivetrain

Write more expressive method names and more commands for finer control. Make sure solenoids and compressor have port numbers.

Video of Waypoint Navigation using Lejos

we can show this off on a video loop at NRG

Code review: Kalman filter in OdometryGyroPoseProvider

I think I'm setting up the filter correctly. I just kind of winged this statistics stuff and tried to make the gyro have more weight than the encoders. But I don't know if the other matrices are right either or if I'm using them correctly.

Also how to do real code review on github?

Robot attacks if move interrupted by disable

If the robot is disabled in the middle of a move the I term in its PIDs will cause it to attack people when it is enabled again. This is still a problem despite the numerous attempts to stop all moves in disabledInit()

Put the latest Disk Jockey code onto Rep

Sam is dumb

assign Max to fix it

Push SmartDashboard app code

We need to make another smart dashboard app to map AutoJockey. I need to see how to do it.

Add "xmaams" (Sam Dietrich) to project.

holonomic - open loop Disco Slide

get 2011 Disco Slide code into 2014 repo , test moving forward and backward in open loop

basic holonomic drive (open-loop)

assume mecanum wheels. Put in variables for wheelbase and gains to tune the sensitivity

Calibrate PIDs for AutoJockey

leJOS default PID constants are very high. PIDTuner should be able to help us fix this.

Flipping Controls On Practice Robot

We need to flip directions on the practice robot's controls so that left is right, right is left, forwards is backwards, and backwards becomes forwards.

DriveVis resolution changing bug

I need help with this one. The grid is supposed to disappear and be replaced with a new one when you change the resolution, but only reappears sometimes until you move the window. In some cases, such as when many options are turned on, it will update correctly. Anyone can work on fixing this if you are bored.

Fix wire for LED ring and test code for robot shooting confirmation