triplehelixprogramming/chargedup

Triple Helix's code for the 2023 FRC Charged Up season

chargedup's Issues

Method to reset swerve CANCoders at runtime

Problem
We need a way to zero the CANCoders for new robots and if they get off.

Possible Solution
A button in Shuffleboard would suffice.

Implement trajectory follower (either custom or WPI)

Plan for safe start of replacement motor controllers

New motor controllers may be swapped into the robot at any time, and they may have strange configurations that need to be safely and permanently overridden.

Please add to each constructor:

• near the beginning restoreFactoryDefaults()
• near the end burnFlash()

Avoid using static global variables in Constants

This can cause issues across shared object boundaries, only ever use constexpr in Constants.hpp.

One way to fix this is to convert this:

const MyType value;

to

const MyType& GetVal() {
  static MyType val;
  return val;
}

Arm may be in unexpected state at start of autonomous

Arm may be in unexpected state at start of autonomous if there has not been a rio reboot since the last teleoperated operation. Reset the arm state during autonomousInit to ensure the arm matches the expected state.

Energize double solenoid coils upon a state change, not all the time

These...

  if (m_expanded) {
    m_expander.Set(DoubleSolenoid::kForward);
  } else {
    m_expander.Set(DoubleSolenoid::kReverse);
  }

should be a part of Superstructure::SetExtenderPosition(bool expanded) {}

such that they are only called during a change of state of the mechanism, rather than on every periodic loop. Double solenoids remain in their last energized state when neither coil is energized.

As a result of the change, SetExtenderPosition might also need to be called during autoninit and teleopinit to ensure the mechanism is in the expected state.

Staging feedback for auto mode 3 is always green

Auto mode 3 (3 Cone) is missing from this switch statement, so the LEDs that provide feedback on robot placement during staging for auto mode 3 always remain green when auto mode 3 is selected, even when the robot placement is clearly wrong.

Add smartcurrentlimit for swerve module motor controllers

The robotworksheet indicates an 80A limit which is the default value for the Spark Max. We could turn this down to ~60 if we wanted to be more conservative.
https://www.revrobotics.com/neo-brushless-motor-locked-rotor-testing/

Auto-select camera calibration and transform based on selected auto and side of field

Every time we change to a different routine, we have to manually change the calibration matrix and the transform. This should be done automatically.

Plan to still run auto when auto switch fails

• Right now, no auto will run if the switch fails
  • The correct auto could partially be inferred based on the vision pose estimate
  • Another solution would be a manual override on the driver station