frc-team3538 / frc2019 Goto Github PK

Use the gyro to keep the robot driving straight until a turn is requested.

Idea: In the default code, make the second sub systems selectable from a chooser.....

Idea was from Richard. Not sure if it's a good idea or not yet, but I like it....

The initial logging run we did shows that the encoder data from the SRX is coming in only every 400ms, which is crazy slow... need to speed it up, perhaps to 8ms perhaps?

the navx has a calibration routine that executes at every boot. There's a function to check if it is in process / done that we should display on the smart dash for diagnostics.

WPI appears to be supporting motion profiles out of the box complete with a guy path generator. https://github.com/wpilibsuite/PathWeaver

Investigate it.

• Move camera from D's to a new vision subsystem.
• Make function to get a CV image frame from camera
• Add a button to save CV image to rio as bmp.
• Set up winscp for accessing files.

Add a subsystem for a flywheel shooter.

PID controlled speed, probably with encoders wired to the SRX, and use closed loop control on the SRX?

Add an arm subsystem, essentially the wrist from flipside.

Closed loop revolute Join control.
Probably with an SRX, with integrated closed loop control.

https://docs.google.com/document/d/1ewdBMf0K92LA7U8adPa6xN8Kl5irISZ7pAmq79NrIWU/edit

• Replicate all of the features of the "2018 Default Code".
• Update the Default Code Documentation on the Team Drive

The navx can use power from usb to avoid reboots during brownouts. If we are using it during the match beyond auto, then it is probably a good idea to hook that up.

Display a usb camera on the dashboard by default.

Should just plug and play...

https://www.kauailabs.com/support/navx-mxp/kb/faq.php?id=48

Label each navX so we know the firmware version of each.

• Smart Dash chooser
• State Machine Setup
• Do Nothing
• Time based line cross
• Encoder based line cross

• Implemented in Dereck's Branch but not yet tested or merged into master

Run the closed loop with in the srx

Use the gyro to keep the robot driving straight until a turn is requested.

Set up a demo to connect to a camera and just find the centroid of a vision target.

Should be able to display the camera image on the smart dash with some crosshair to show the centroid.

Let's make a class that can be used as a basis for an elevator.

Closed loop Prismatic joint control.

Use SRX integrated closed loop?

Add some basic logging functions and set up something to log by default.

Perhaps make it log the encoder positions, driver input, and motor command?

Let's add the ability to override sensors in our code by default, even tho we don't have any sensor limits by default. That way, when sensor limits are put in place, there's already a variable ready to be used from day one, and buttons on a controller, allocated for use.

(Perhaps start / back buttons on the Operator controller)

Apparently there's been significant improvements a shuffleboard for 2019. let's see if we can find a preview available, and if not let's make sure to evaluate it after kickoff.

Might be able to build latest from here:
https://github.com/wpilibsuite/shuffleboard

Probably should just get rid of 'master' and have a branch for each robot configuration... Then it's totally clear to everyone, no need to figure out which code is 'master' supposed to be..

increase the camera resolution so that we were using 80% of the available bandwidth.

If we add a second camera later, will deal with it at that time. Let's get the most bang for our buck for now.

It might be good to have a 'robot personality' stored as a text file on the RIO with the robot's name so the code can use the proper scale factors and other robot-specific constants.

WPILIB frc::preferences() looks perfect.

• Add GetRobotName() to robotmap.
• Add Chooser to Smartdash to select Robot.

Use Talon SRX's Motion Magic to implement a motion profiling function.

• Straight Line
• Arc
• Spline

We need to have a Smart dash layout with some useful stuff on it.

Display all sensors & outputs, etc
Make it look nice, and add the file to the git repo somewhere that makes sense.
Make sure the layout gets on our driver stations too..

[ ] gyro heading
[ ] Encoder position
[ ] Camera