team2554/sloth

Command Based version of Sloth 2017

Sloth

Something's not working! What do I do!?

1. Make sure the controller is on port 0 and the joystick is on port 1 in the driver station.
2. If you aren't getting comms, try restarting everything; we've also noticed that connecting to the robot using USB and disconnecting after a while makes stuff work.
3. Make sure you have the latest version of the robot code from this Github repository.

Controller Input Map

sloth's Issues

Test Issue

Just a test

Exception Called During Creation of Autonomous Commands

Problem: Exception is thrown when trying to create Autonomous command objects.

Explanation: Since the drivetrain is not a subsystem, it is instantiated in roboInit(). The RobotDrive object is not static because it is referenced within instance methods so when the same ports are called again to create a new RobotDrive object in autonomous commands, it throws an exception.

Solution:

• Modify the autonomous command constructor so it takes a RobotDrive parameter
• When constructing a new autonomous command, make actual parameter as the RobotDrive object in Robot.java

CameraServer Not Returning Video

Problem: CameraServer.getInstance().startAutomaticCapture() sets up a perfectly fine output but manually setting up the CvSink and CvSource returns nothing.

Possible Solution:

• Read the source code for startAutomaticCapture() and build the servers from there.
• ???

Center Autonomous

Problem: Center autonomous not made

Solution: Make it

• Drive forward
• Time delay
  • Test for correct time delay
    • The robot has to stop shortly after it comes into contact with the airship
• Stop robot
• Ensure robot is 100% stopped

NullPointerException called for grabImage()

Problem: Whenever grabImage() is called, a NullPointerException is called.

Possible Explanation: Scheduler works in a way where as command are added in last. Thus, the grabImage() is called before the SetUpCamera command is even ran.

Possible Solution:

• Move setup code from SetUpCamera command to the constructor of the Camera subsystem
• Delete SetUpCamera command
• Ensure the program does not try to grab an image before sources are set up

Push changes implemented at Mount Olive

• Close issue #10
• Merge changes implemented at commit 3244a41045b2893641677bbef0b684adec1ded7a successfully
• Clean up teleopPeriodic()
• Clean up autonomousPeriodic()

Gyro Calibrates in Auto and TeleOp Init

Problem: gyro.calibrate() is called twice: during autonomousInit() and teleopInit()

Explanation: During manual testing, there are no FMS so it is not possible to call both autonomousInit() and teleopPeriodic() in one session. Thus gyro.calibrate() is called during teleopInit() to make the gyro work during teleop.

Solution:

• Delete the gyro.calibrate() line from teleopInit()

MJPG Server Contains Too Many Client Streams

Problem: Error is being thrown stating there are too many simultaneous MJPG client streams in the server.

Possible Solution: ???

Add moving with climber as front to easily position robot for climber

This assumes commit 3244a41045b2893641677bbef0b684adec1ded7a doesn't work.

Use commands, not teleopPeriodic

• Test commit 3244a41045b2893641677bbef0b684adec1ded7a

Controlling Speed of Shooter

Problem: The shooter wheels spin at inaccurate and nonconstant speeds, especially after a long time of use.

Possible Solutions:

• Bind a button and the right analog stick on the controller to modify the speed of the shooter.
  • The button has to be pressed and the analog stick has to be above a dead zone to modify the speed
  • The analog stick will allow the user to increase and decrease the shooter speed by a slight amount
• Set up Encoder to monitor and actively change the output to keep the speed constant
  • Test for the PID values

Side Autonomous

Problem: Side autonomous is not finished

Solution:

• Drive robot forward
• Time delay
• Turn robot towards airship
• Drive forward
  The above two steps may be combined together
• Vision Targeting
• Stop robot
  • Stop robot shortly once it reaches the airship
• Make sure robot is fully stopped

Numbers:

• Wall to center gear: 2.88925 meters or 9 ft 5.75 in
• Airship to Baseline: 0.37465 meters or 1 ft 2.75 in
• Side Peg to Boiler: 4.0259 meters or 13 ft 2.5 in