dwight-englewood / 0207-velocity-vortex Goto Github PK

Figure out how it works

We need to figure out how to use the servos.

EDIT:: Incorporate into Op Modes as well

Instead of only setting the speed of motors to 1 or 0, use a double to make slower/faster movement.

This should be added in Teleop_Invert.java, but no testing has been done yet.

This requires another color sensor.

write up about how when making ur own encoders the ports are weird

prbably a good start to the wiki

Make it so that the triggers on rob's controller direct input to the power for the strafes. This means when half down = 0.5 power input for strafe etc. Triggers output doubles so this should be simple I think. I'm letting you do this so I don't break the invert stuff. This could make it so the bot doesn't do somersaults when we strafe.

Add better telemetry to the teleop, Auton

By making a variable called servoOut and setting that equal to the button we used for that, then using servoOut it will be easier to change keybindings.

Implement for all buttons hopefully
Might need a new object? Not sure if you can make synonyms for stuff lie that in jaba

put the cr intake and elevator on separate buttons for controller 2/1? ask robert t about it

The controllers are mapped wrong, where the y axis left pad is mapped to the dpad. Find out why, and fix

Test auton:

1. See how accurate it is without changes
2. Test turning auton
3. Time-permitting test strafe auton

Have the cap move up for a bit then down, this will avoid de-spooling

Do testing on current pokers to find the time it takes to push them out and to bring them back in.

Work on making a button that can automatically lineup and hit a beacon in teleop.

Have fun Rob

We need to make an auton that incorperates the RGB sensor

When using the invert functionality and ONE joystick, the bot will seize up and motors will be very jittery. When both joysticks are used simultaneously it works fine.

• Add Gyro to ensure we don't spin out while strafing / after pressing beacon
• Add Range/ODS/Touch to find if close to wall (Depends on if we are getting a field)
• Add ODS to find white line
• Add re-check of beacon after initial press to ensure color was changed correctly

Currently we have very few useful comments, if there are any comments

This should be fixed

Get encoders working on the bot.

As seen here:

When we select RUN_WITHOUT_ENCODER run mode and setPower(1.0), our unloaded NeveRest 20 DC motor runs at 2800 encoder counts per second (CPS).

Therefore, when we select RUN_USING_ENCODER run mode, setMaxSpeed(2800), and setPower(1.0), we expect the same motor to run at a constant 2240 CPS. Instead, the motor runs at roughly 1800 CPS.

Environment:

NeveRest 20 Gearmotor (am-3102)
Core Motor Controller: rev 2.0 (configured for AndyMark)
SDK: ver 2.4
OpMode: Iterative
Robot Controller phone: Moto G 2nd Gen
Driver Station phone: ZTE Speed
@gearsincorg
Collaborator
gearsincorg commented on Dec 12, 2016

This is another "feature" of the Modern Robotics motor controller.
Their firmware chooses to enforce a certain amount of overhead on any constant speed mode (RUN_USING_ENCODER and RUN_TO_POSITION).
This means that their controller will not actually ever try to reach full speed in either of these modes.

They claim it is a feature, I have been fighting for many years that it is an annoying, and undesired constraint. I feel that they should let the programmer decide how much overhead they want, based on the specific motor/application.

That said, if you have a motor that naturally has a lower CPS, then you can bump up the MaxSpeed() and simply request a lower power... This gets around the forced overhead.

eg: in RUN_TO_POSITION, the MR controller limits (clips) the actual top speed to about 65% of MaxSpeed. So if you leave Max Speed set at 4000 CPS, and never request more than 0.65 power, you will effectively approach the top speed of your motor.

You do need to monitor performance in the field to ensure that you aren't demanding too much speed. If you find that the motor is slow at responding to a reduction in requested power, you may have exceeded the motor's capabilities.

Note that this is NOT a FTC_SDK issue, it's a long standing Hitechnic/ModernRobotics issue.

Clean the auton so that the if statements are easier to understand and also remove unnecessary if statements.

Do stuff for worlds prep

Not sure what that entails yet but probably will have

• Auton Adjustment
• Teleop Control Tweaking

Edit (Greg):

• Documentation improvements

• Ball feeder management
  • rgb sensor
• distance to beacon(close enough or not)
  • distance sensor
• Stopping over extending of servo
• Another servo was added:

• Multiple Sensors
• Servos Not Stopping at power 0
• Watchdog (OpMode Stuck in Loop)

Do these eventually

#blah lah blah should we leave todos and stuff like this
#1
can we mention files
3cb6cff
kakakakakakakakaakaka

CATN