• Add feather client shot logger

During auto we don't want to shoot unless we're lined up. Hitting a ref would be bad.

Open issue for discussion: what buttons should we have and where?

Driver:

• Left/right sticks: tank drive
• Left/right trigger: throttles
• Left bumper hold: shoot

Copilot:

• Left/right sticks: climber extension
• D pad up/down: climber solenoids
• A: "Acquire ball" (fold down and spin intake, start indexer)
• B: Outtake
• #42
  • Y: Eject only top ball through shooter
  • X: Eject only bottom ball through intake

• Zeroing sequence
  • Check when encoder stops turning/encoder increase below threshold
• Get maximum values in encoder ticks
• Add as soft limits in TalonFX config (configForwardSoftLimitThreshold)
  • #80

• Retune shooter PID
• Increase error threshold to +- 100
• Velocity PID on indexer

Set shooter to N percent (0.3 maybe?)

currently +6 in utils/LIDAR.java

Copilot should rarely (if ever) need to manually control the intake position.

ref #92

One button to eject the top ball through the shooter, another button to eject the bottom ball through the indexer

Make the right joystick work as well

(Don't stop as fast)

• #13
• PointToTarget before shooting

• Tune FFTankDrive acceleration
• Tune controller deadzones
• Make sure new climber limits work
• Shooter constants
  • #91
• 3 ball auto
• 4 & 5 ball auto
• LIDAR
  • #96

• Characterize with SysId
  • Update Ramsete constants
  • Change track width in PathWeaver
• Re-tune PID controller
• Determine appropriate acceleration and velocity limits

• Simple 1 ball auto (all starting spots)
• 2 ball auto (all starting spots)
• 3/4 ball auto

Test each subsystem by moving it quickly and watch the current graph to find a logical maximum.