team2556/crescendo

FRC Team 2556's Repository for the 2024 game Crescendo.

crescendo's Issues

About start rev'ing up shooter

About mid field
With note
Pointing towards speaker

Standard operating procedure and newbie setup guide

In your repository there needs to be some documentation added: SOP, working environment setup guide, required training.

• SOP: branching strategy
  Describes the strategy we will use for branches: I recommend 2 long running (main, competition) and many short running (single, small issues)

• EnvSetup: VS Code extensions

• • auto commit on save
• • github repository
• • github issues and pull requests extension
• • gitlens
• • preferred Java extensions...?? java extensions

• EnvSetup computer:

• • Vscode
• • git for windows

• Required Training videos

• • vs code
• • git in vs code
• • markdown - documentation

Implement Swerve Robot-Centric

Swerve Robot-Centric (Toggle from field-centric with the '() -> true' parameter in the RobotContainer for TeleopDrive)

Implement Field-centric driving

Field-centric driving (Test the amount of drift the NavX has after calibrating it, verify the robot drives properly)

Odometry, can we count on it (get it? Ha)

Odometry (Should follow YAGSL's documentation where +x is forward, +y is left, and +theta is CCW) *Note that the xbox controller sticks are inverted, so verify the inputs from the controller are actually positive otherwise add a negative sign to the sticks in the TeleopDrive class)

• Set up Odometry course
• Create Odometry calibrating spreadsheet (put it in this repository!)
• calibrate Odometry

Finish April tags

Need to make the robot go to the tag when button is pressed

robot properly drives in robot-centric

First is making sure the robot properly drives in robot-centric. This should include testing the odometry (robot x, y, and theta).

Make sure flaps still work

flaps are locked right now but when they are unlocked make sure they still operate like normal.

make pull request for Climb-subsystem

• Merge in to main
• pick issue to attack and create branch for that

Finish Pixy Note Chasing

fix the pixy (mostly used for autonomous) to get it to lock in on a note and go towards it when a button is pressed

remove extra git branches

we need to remove branches that arnt used anymore.

Make pull request for Intake-subsystem

• make pull request for Intake-subsystem branch
• choose specific issue, create a branch for that

Ensure Drive Works - try to make sub issues with list in original issue

So, a few things that should be done for the robot to be functional and driving good.

• #11

• #12

• #13

• #14

• #15

• #16

Need shooter RPM telemetry (left and right).

We can't make tons of points without consistent shots. We can't make consistent shots without consistent RPMs on the flap wheels. We can't tell how consistent or inconsistent our RPMs are with enough detail to make improvements.

Need to figure out some sort of metric that would help. Ex: average RPM over the last second before the trigger was released or shot was automatically released.

Ensure drive works

once we get robot make sure robot drives

Tweak pathplanner, with functional swerve drive

• Test pathplanner with functional swerve drive and see how the paths for a basic autonomous need to be tweaked.
• Tweak auto paths

clean out Mark-intake/climber

• quick look to see if any needed files

• prune branch

• pick an issue; open one branch to fix one thing, merge, prune that branch.

Make full point scoring autos

pathplanner autos for scoring maximum points

Tune Aimer

Make the Aimer more accurate

how much the NavX is drifting

Next is field-centric, which should ideally tell us how much the NavX is drifting. If it is an insane amount of drift then we can look into april tags always resetting the robot's position in order to compensate for the drift.

Test out arm PID when robot quickly stops

Until we make quite a few improvements, the driver will be stopping the robot and shooting. The PID needs to make the arm steady in this situation.

Flaky disabled

Why is the robot disabling randomly

Test Intake

Test Intake Subsystem

Verify the intake works as expected.

• Positive speed intakes notes & ideal speed for intaking.
• Verify outtake works as expected
• Verify the beam break sensor triggers as expected