flamingchickens1540 / toothless Goto Github PK

• 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

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

Make the right joystick work as well

ref #92

• #13
• PointToTarget before shooting

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

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

Set shooter to N percent (0.3 maybe?)

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

• Add feather client shot logger

(Don't stop as fast)

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

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

currently +6 in utils/LIDAR.java

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

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