frc3636 / frc-2024 Goto Github PK

We need to make sure that the robot still functions properly now that the autos branch has been merged.

Implement a comprehensive suite of autos: (owner of this should mark each auto as “complete” when it has been implemented and shown to work) If you think we can realistically do a five piece add it to the list.

• One piece - left
• One piece - center
• One piece - right
• Two piece - left
• Two piece - center
• Two piece - right
• Three piece - left
• Three piece - center
• Three piece - right
• Four piece - left
• Four piece - center
• Four piece - right

Coordinate with electrical to add additional RGB to bot.

Probably need to add a responsible electrical person. Who might that be?

Command to point in the direction of Speaker / Trap. For Amp, we probably want to also drive to the setpoint

Some subsystems don't log their inputs

Perform Limelight focus procedure as described: https://docs.limelightvision.io/docs/docs-limelight/getting-started/focusing

We should make sure the shooter mech cooperates well with the pivot, set up bindings for it, and automatically retract it when the pivot wants to retract

UTB intake might have been having issues during stem yesterday and needs to be checked up on

See https://docs.photonvision.org/en/latest/docs/simulation/simulation.html.

Blocks on #26.

After #26, we will already have an abstract interface for different real driving motors. Adding a similar abstraction for turning motors would allow us to unify the simulation and real swerve module classes.

Review code with underclassman with an eye toward programming team having the ability to start immediately next year on tasks for First Chance and Storm Surge.

Originally this was being led by Lewis but he's been pulled into a leadership blackhole meeting. Max is taking this over.

I.e. the "254 correction."

Implement plan to use MASSIVE capacitors to prevent PC brown outs

Finish off software to gather data from cameras.

Some rewiring was happening today and two of the camera cables might have gotten switched around so we should make sure the cameras are still correct.

This requires two things:

1. Computing the 3D pose of the arm in chassis space by finding the pivot position in CAD and applying some rotations to it.
2. Integrating this with AdvantageScope. See the AdvantageScope docs for information about articulated components.

Lots of teams do odometry in a seperate thread for faster loops (even >250Hz in some cases) and therefore greater accuracy. This is something we should look into.

The climber will probably be wired up soon so this would be a good thing to test

Drivetrain subsystem and localization working in sim.

Adding Limelight 3G to pos estimation code.

Also work with electrical and fabrication to find a proper mounting placement.

In order to coordinate intaking process so we only hand off when the shooter is in position, we should use a mixture of beam break / current sensing to detect when we have intaken a note.

The relevant documentation.

Fairly low priority, but we'll want to use this from the start next year.

Our command loop duration is taking longer than the command loop causing overrun(s).

Top priority, because right now you can't use sim without it crashing.

Using the Preferences API, dynamically select I/O implementations depending on the robot. Also, the main branch should be known working against both robots.

we don't need to implement the indexer yet cause we still aren't sure what form that will be taking / how its getting powered. We should def make a sim subsystem for the pivot though to test targeting and control loop stuff.

Limelight has released an update that greatly improves April tag detection.

Update Limelight firmware and measure improvement of the April tag identification.

Verify the ability for RoboRIO to implement asserts. Setup our infrastructure and identify assert handler functions (turn off motors, etc.)

April 18, 2024 - Gavin has asserts working and is now looking at assert handler functions.