spartronics4915/2020-infiniterecharge

Spartronics 4915's code for the FRC 2020 game: Infinite Recharge

2020-infiniterecharge's Issues

Compare computation time of rpi3B+ with rpi4B+

Internet literature suggests the raspi4 has faster computation times, we need to evaluate how much better the rpi4 is compared to the rpi3.

Update(2020.02.01): Dana has put together a compatible image that works with both the pi3 and pi4

Verify V-SLAM with fast movement

Create launcher API

This is writing the methods that Commands will interact with the subsystem through, + rough code within those methods.

Implement FMS color feedback

https://docs.wpilib.org/en/latest/docs/software/wpilib-overview/2020-Game-Data.html

It would be helpful to let the drive team know the color (through the dashboard? robot bling?) in addition to pumping it to the IR sensor.

Unit testing for the Climber

Think about the best way to implement this, given that we don't have an end condition for either of the extend and retract Commands, and that the winch will have some conditions before testing.

Find PnP 'model points' for half-hexagon target

Flywheel PID characterization

Builds off of #3

Improve Arduino's interrupt code

Arduino has an interrupt code that periodically listens for bling animation command over the serial port. Current architecture can quickly get complicated to support complex LED animations that have multiple loops & function calls. Investigate simplifying the existing architecture to better support LED animations.

Figure out color sensor output with the control panels

For the control panel, we need to test the color sensor's output and get maximum and minimum values for the RGB of the four colors; the values next to them are taken from this image and are extremely dubious:

• red (254,0,0)
• green (0,255,1)
• blue (0,255,255)
• yellow (255,255,0)

Also, the getRed, getGreen, and getBlue methods return 20-bit numbers; these should be converted to 8-bit to work in normal way.

Determine status of LIDAR object detection

This is sort of just an IIC flex. I need to see if the design team will mount the LIDAR.

Finalize the list of LED animations for 2020 robot

Review the brainstorm list of LED animations and finalize the list. Break the list into groups: Must Haves vs. Wants for prioritization.

Note: it is useful to think of the animation sequence as a state diagram to capture the transitions in robot code for integration. I'll plan to add a draft example to the wiki.

Explore / Adapt ChamelionVision's solvePnP detection pipeline

Low FOV Lens Comparison

Basic Idea: With a small FOV, we have more pixels to represent a target, which results in better measurements from PnP

Link

Construct indexer commands + groups

Construct launcher commands + groups

Create indexer API

This is writing the methods that Commands will interact with the subsystem through, + rough code within those methods.

Create control panel manipulator API

This is writing the methods that Commands will interact with the subsystem through, + rough code within those methods.

Perform system identification on the final drivetrain

Explore exporting relocalization maps and setting static nodes

Unit testing for the Control Panel Manipulator

If we implement automatic functionality, this will need to test both.

Integrate LED animations on robot code

Each of the finalized LED animations (see #47) need to be incorporated to the robot code. Logical places for integration:

• RobotContainer.java using alongWith() to incorporate bling pattern to joystick button controls
• Robot.java for supporting states such as disabledInit()
• Within subsystem Commands

Standardize networktables key betweeen robot and vision

Add support for multiple robot configuration a-la 2019.

Code available in 2019-DeepSpace/.../Constants.java .. static code block.
Assigning to Declan - who may reassign and prioritize as appropriate.

Construct intake commands

Compare the accuracy of SolvePnP with varying amount of model points

Specify all autonomous trajectories

Power cell trajectory calculations

(this may be complete)

Unit testing for the Launcher

These need to interface with the Indexer.

A good test would be to put the robot at various distances and rotations and see if it can accurately make it into the inner goal.

Construct climber commands + groups

Add V-SLAM and PnP fusion

Finalize LED integration approach for 2020 robot

There are two approaches for integrating LED animations with robot code:

1. Driving [Addressable LEDs within wpilib] (https://docs.wpilib.org/en/latest/docs/software/actuators/addressable-leds.html)
2. Driving LEDs via Arduino code and integrating with robot code via serial/UART interface

Using Atlas codebase validate which approach works best.

Support ultrasonic sensors

The mechanics subteam has expressed interest in an auto-align command for the control panel manipulator.

We've typically used IR sensors for rangefinding, but ultrasonic sensors have various advantages in dealing with the control panel manipulator. The discussion is available here.

core code cleanliness issues

Note: lib/math/twodim/trajectory/PathFinder.java uses unchecked or unsafe operations.
Note: Recompile with -Xlint:unchecked for details.

The serializable class CameraJNIException does not declare a static final serialVersionUID field of type long

Add V-SLAM auto-align to climb and wheel of fortune

Create intake API

This is writing the methods that Commands will interact with the subsystem through, + rough code within those methods.

Support SparkMax controllers

Camden has an active pull request in SpartronicsLib.

Measure PnP Performance on 2020 Target

Answering the question: What is the accuracy difference between the 2019(6pt) and 2020 (4pt) target? Is the 2020 target a 'better' pnp target?

Implement & test LED animations using Arduino and Atlas

For each prioritized bling animation:

• [ ] Update Atlas code w/ latest LED system code (both Arduino & LED subsystem) --> I don't think this is needed
• Implement LED animations using the existing bling test bed
• Add the designed LED animations to Arduino code on Spartronics repo
• Test the LED animations

Create climber API

This is writing the methods that Commands will interact with the subsystem through, + rough code within those methods.

Unit testing for the Intake

Consider that we need to test that the intake functions correctly both with and without a ball in it, as well as interfaces with the Indexer.

Unit testing for the Indexer

This will need to be tested both with the Intake and the Launcher.

Assign buttons to commands

Find/Validate camera intrensics (rpicamv1)

Refactor half-hexagon detection into seperate file

Camera Multiplexer to Conserve Pi's

Purchase and evaluate a camera multiplexer

Questions that need answering:

• What is the delay on switching between camera feed?
• How are camera feeds switched (the exact code)?
• What are the requirements for electronics?

Write Doctests for each method in targetUtils.py

Construct control panel manipulator commands

Create an auto-formatter

Compare the accuracy of PnP at various resolutions

Implement LED subsystem and Command code

Reuse Atlas's LED subsystem and Command code as a start.

• Add LED subsystem. Make sure to update the import statements for 2020 codebase

• Check if 2020 codebase is logging errors, including with exceptions -- see logInitialized() and logException()

• Update enum BlingState based on the prioritized LED animations -- see issue #47

• Add LED command to set bling state. Make sure to update the import statements for 2020 codebase

• Instantiate LED subsystem in RobotContainer.java