frc1418 / 2017-robot Goto Github PK
View Code? Open in Web Editor NEW:robot: Team 1418's FRC robot code for the 2017 season
License: MIT License
:robot: Team 1418's FRC robot code for the 2017 season
License: MIT License
It seems that setting the Camera exposure in cscore also messes with the brightness. Setting the exposure and brightness every loop doesn't work. For some reason I couldn't use cscore's getProperty
to check if the brightness or exposure was set improperly and then adjust it.
It may make sense to only allow SwerveDrive to interact with swervemodules. For example, in autonomousPeriodic
call SwerveDrive.update_smartdash()
and from there call module.update_smartdash()
Thoughts?
You can't go backwards at all...
Bellow is a list of cool stuff we have done this year so I don't forget
Probably a lot more that I haven't remembered
Just curious. There would be a lot less overhead, and the variables would be better organized.
Idk how accurate the shooter is, but I'm sad you guys didn't do this
We are planning to unbag the robot for 6 hours on Thursday. This is my list of things to test. Please add to it if you know anything else.
Auto align currently uses position history to work off of the gyro. It is written but has not been tested.
Currently to get the wheel rotation, we are looking at the nt value /SmartDashboard/drive/rr_module/degrees
for each module. This is a poor way of doing it
You can calculate the wheel rotation in physics through the encoder value. This would be better, however because the wheels all have zeros in robot.py
which cause the raw value calculated from the encoder to be incorrect. We need some way of getting the zero from each module into physics.
It would be a pain if we had to manually input it each time it changed
Something that would've been good to have last year.
For motors that are subject to running under heavy load, it would be a good idea to check the current, and if it's above a threshold, free the motor (motor.free()
) or some other way of stopping it. motor.free()
is good because in some cases like last year, you just want to change say, the operating mode of the motor.
my_pid_base.py
to basePIDcomponent.py
. my_pid_base
doesn't really make sense.scaled_output
calculation is either wrong or poorly named. Comments = clarification_has_setpoint
to False after each iteration of execute
doesn't seem...intuitive. It would make more sense to set to false if error is within a threshold. But I understand you check how close it is in another method.is_aligned
called is_aligned_to(self.setpoint)
end()
fwdX
and fwdY
should be swapped to make sense. cos(X) measures adjacent to, and since an angle of 0 is in the +Y direction, cos should be applied to fwdY
.move(x, y, rcw)
should be move(y, x, rcw)
is_aligned
This shouldn't be that hard, just gonna take me a bit
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