strykeforce/powerup

2018 FIRST POWER UP

powerup's Issues

Make sure C2F paths all end pointing approx. at cube

In case vision doesn't get contours, make sure C2F default position is approx. correct to get a cube with no angle correction from vision.

Portal intake position and button

Lift should descend faster

Two speed stages, slow before getting close to bottom

Create Health Check diagnostics

Stall Intake Motors when Holding Cube

Instead of stopping intake when we have a cube, run the intake at ~1V to stall the motors and hold the cube in place.

• Update what happens for whenReleased for all intake related buttons
• Update holdOutput in settings.toml
• Update Hold mode in intake subsystem

Prevent driving to second cube over in C2F

Look at limiting max angle for azimuth?

CANifier enables PWM output when Robot Disabled

move enablePWMoutput to Teleop Init and Auton Init instead of in subsystem

Figure out method to keep shoulder from driving intake into robot when lift is lowered.

Update Stow Command

Stow command needs to bring the Lift to the zero position in addition to rotating the shoulder in

Instantiate rate limits in initialize method

We should probably dump the rate limit state when entering teleop driving from another command.

powerup/src/main/java/frc/team2767/command/drive/TeleOpDriveCommand.java

Line 39 in a091eb6

forwardRateLimit = new RateLimit(kRateLimit);

Configure POWER UP button board

1. Document the button wiring so we can reproduce.
2. Map buttons to button ids in WPI.
3. Implement button triggers for continuous axes.

Automatically configure Controls class

Find an API to identify joysticks by port and dynamically configure the Controls class.

Intake Eject Command Paramaterization

Currently uses hard-coded eject time - need the ability to easily pass in different amounts of time ejecting cube

• auton needs a short eject length
• tele needs a longer eject length

Add slow intake eject on left should back button

Create custom conditional command for POWER UP game data

Intake release commands

Subsystem is done

Scale Height Commands

• Figure out Lift encoder positions for Scale Low, Middle, High heights
• Write command to adjust Lift position
• Make buttons on co-pilot button board for scale Low, Middle, High operational

Update Ground/Exchange Buttons

These buttons need to position the lift to the zero position (right now they only move the shoulder)

ExtenderSubsystem doesn't update internal state for up() and down()

We need to update the servoUp boolean for these two methods.

While we're at it, extract the multiple repeated debugging statements into a private method to avoid code duplication.

Create Pit Checklist

Fix Settings files for C1D in Switch

Right now the following settings files are copied from scale auton settings files. There are probably old settings files that the correct values for these can be copied from

• R_SW_S_C1D
• R_SW_O_C1D
• L_SW_S_C1D
• L_SW_O_C1D

Create event packing checklist.

Add method to Setting class to determine if we are running in an actual match.

Increase Current Limit on Intake

Current limit is 10A right now. Motor stalling is sometimes noticed when trying to intake.

Shoulder up/down jog switch should use open loop

Add Flipper subsystem, commands and buttons.

Run carpet calibration protocol on Proto Bot

Determine constants for different directions of movement on the carpet - this feeds into auton development

Extender up and down commands

Write SwitchCube2Deliver

Write command that can deliver second cube to switch for auton phase 3.

• includes finding settings for L_SW_S_C2D and R_SW_S_C2D

Add back in Center Switch Functionality

Right now no paths are started for this and it has not yet been converted over to the new naming structure

Adjust Shoulder Setpoints for new Shoulder Geometry

Find new encoder positions for the relevant positions with the new geometry.

Clear scheduler in teleopInit

Opposite side switch - azimuth before final back into switch?

Let's check this out next time it is run, do we time out azimuth because it has no room to turn?

Velocity Control on Intakes

Add in velocity control tuning parameters

Set up driver camera streaming.

Tutorial here

• cscore library on roboRIO to access camera and stream
• ShuffleBoard on driver station, with stream viewer
• USB monitor for driver station

Create match carpet calibration protocol

Camera calibration process for event

Create Checklist of Critical Field Dimensions

• Determine what field dimensions are critical to auton routines
• Create a checklist which lists the expected dimension as well as a spot to record the actual dimension
• Make a spot for both red and blue if applicable

Auton Switch Positions to Force Auton Routines in Practice Matches

Manual Jog Commands for Lift

Make Lift manual adjust buttons on co-pilot button board operational

Add climbing ramp release control and button

Speed up (non-Scale) Autons from St. Joe Speeds

• speed up (non-scale) autons relative to the conservative speeds set at St Joe

Implement joystick expo and rate limit classes

Fix Left Side Auton Settings Files

All left side auton settings files were created as copies of the right side settings files when switching over to the new naming convention. There may be old settings files which do not match current naming convention to get the values from.

Reduce fast eject (left shoulder down) by 80%

Write robot software brochure

Set up auton selection switch.

Add a method to Settings class to read auton switch setting. Try to figure out yourself how to do it, but if you get stuck, there's a method in the Steamworks source code that does it.

Update Driver Intake Command

Auto Intake on Driver Joystick

• Drop Lift to Ground height
• Drop shoulder to Ground height
• Run intake load (auto intake based on limit switches)
• Stow the intake

Derive carpet pile compensation coefficients

Recalibrate shoulder limit switch zero position