rar1741/ra19_robotcode

Red Alert's 2019 Robot Code

RA19_RobotCode

Robot code for 2019 FRC competition for team 1741

See development setup

Links

• Game Animation
• Game Manual

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ra19_robotcode's Issues

Add support for tank drivetrain

4 CIMs, 2 on each side. 1 master and 1 tied slave per side.

Set up Slack integration

Handle logging in both the real robot and the simulation

Right now it's hard coded into the robot-supported variant.

Develpoment Setup

There's a typo in the readme

https://github.com/RAR1741/RA19_RobotCode/blob/master/README.md

Set up CodeClimate integration

CodeClimate is only using the default settings

Add .codeclimate.yml to the root of the repo.

We have different indentation in the various files

Change all code to use 2 spaces for indentation

Set up Travis integration

Pressure Sensor

We have a new analog pressure sensor that allows us to know the exact pressure in the pneumatic system. We need a class that can accept an AnalogInput and use the voltage level to compute a pressure in known units.

Datasheet: http://www.revrobotics.com/content/docs/REV-11-1107-DS.pdf
See:

• http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/AnalogInput.html

Add support for 2 PCMs

Travis can't even DEAL with these CTRE classes

Our Travis tests won't work because we're missing class definitions when the tests execute.

Sample (from https://travis-ci.org/RAR1741/RA19_RobotCode/builds/480570413?utm_source=github_status&utm_medium=notification)

> Task :compileJava FAILED
/home/travis/build/RAR1741/RA19_RobotCode/src/main/java/frc/robot/Drivetrain.java:3: error: package com.ctre.phoenix.motorcontrol does not exist
import com.ctre.phoenix.motorcontrol.ControlMode;

Possible solutions?

• Include copy of jars in library folder? (this option is the devil)
• Download, unzip, and use jars directly (slow)
• Get jars published to maven central (ha ha)
• Get jars published to some other Maven-compatible location

Robot motor reversals

We need to reverse the motors on the collection system and the lift since those will be corrected on the competition robot (and fixed on the practice robot).

Set up issue templates

Test Slack integration issue

Use openjdk11 in Travis

Set up development environment setup instructions

Test new code on a RIO

(even just a template program)

Compressor Code

It's becoming pretty clear that we'll need an onboard compressor for our pneumatic systems. WPILib has provided a simple Compressor class in the past that took care of managing a compressor by turning it on if the pressure in the tank ever fell below 120 PSI.

We should add that class to our robot code. Look, I'm linking the documentation! http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/Compressor.html

We need to do a couple of things:

1. Add an instance of this class to the robot class.
2. Initialize it in robotInit (probably)

Logging?

Logging was found to be unacceptably slow (between 40-70 milliseconds per iteration) just before a district event, so we took logging out.

• The camera issue was fixed
• The robot handling issue was fixed
• We won our first championship in 14 years

Obviously I want to re-introduce logging.

Recover from Camera Issues

When the camera is addressed in the robot code, but there is no camera, a fatal exception is thrown. We should recover from this gracefully.

Scoring tests are failing

We have a scoring test that isn't working anymore, because that component was commented out / disabled. It's kind of annoying that all of our builds are treated as failures, so we should remove it.

Pneumatic control on test board

Once #11 is done we'll need to actually control a solenoid via the test board. To do this we need a few things:

• A driver station (use the top ThinkPad)
• Compressor
• Compressor code
• PCM and other pneumatic systems wired
• Controller
• Code to use controller to change the status of a solenoid

Ideally we should be able to press a button and have the solenoid/double solenoid toggle on release. For example, someone presses the A button and the solenoid triggers, and the piston extends. That person presses the A button again and it retracts.

See

• http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/XboxController.html
• http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/Solenoid.html
• http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/DoubleSolenoid.html

Clean up and rename Scoring methods

Scoring now has a finger. We also extend/retract backwards to how we used to and it's really really confusing. We should clean the class up so the original semantics apply.

Add review/branch protection