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2019 Robot Code

Python 100.00%

robotpy frc-robot frc

2019-robot's People

Contributors

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Watchers

2019-robot's Issues

Jonny's Task

1.)pick up phone
2.)turn on phone
3.)unlock phone
4.)watch a video on youtube

I need help with translating the code

package org.usfirst.frc.team6367.robot.LightDrive

import org.usfirst.frc.team6367.robot.io.RobotOutput
import org.usfirst.frc.team6367.robot.io.SensorInput

import edu.wpi.first.wpilibj.Encoder
import edu.wpi.first.wpilibj.PIDController
import edu.wpi.first.wpilibj.PIDOutput
import io.github.robotpy.magicbot.MagicInject

class LightDrive: 
    #implements PIDOutput

	# static final double kP = 0.03
	# static final double kI = 0.00
	# static final double kD = 0.00
	# static final double kF = 0.00
	# static final double kToleranceDegrees = 2.0f
	# static final double kTargetAngleDegrees = 90.0f
	
	# public PIDController turnController
	# double rotateToAngleRate
	
	# @MagicInject
	# SensorInput sensors
	
	# @MagicInject
	# RobotOutput  robotOut
	
	// Constructor 
	LightDrive(): 
# /*		this.turnController = new PIDController(kP, kI, kD, kF, sensors.ahrs, this )
# 		this.turnController.setInputRange(-180.0f,  180.0f)
# 		this.turnController.setOutputRange(-1.0, 1.0)
# 		this.turnController.setAbsoluteTolerance(kToleranceDegrees)
# 		this.turnController.setContinuous(true)
# 		this.turnController.disable()
	
	
	void driveStraight(): 
		# if(!turnController.isEnabled()) 
		# 	turnController.setSetpoint(kTargetAngleDegrees)
		# 	rotateToAngleRate = 0
		# 	turnController.enable()
		
		# robotOut.setDriveLeft(0.8*rotateToAngleRate)
		# robotOut.setDriveRight(0.8*rotateToAngleRate)
	
	  
	public void stop() 
		# turnController.disable()
		# robotOut.setDriveLeft(0)
		# robotOut.setDriveRight(0)
	

	
	public void rotateToAngle(double targetAngle) 
		# if(!turnController.isEnabled()) 
		# 	turnController.setSetpoint(targetAngle)
		# 	rotateToAngleRate = 0
		# 	turnController.enable()
	
		# robotOut.setDriveLeft(0.8*rotateToAngleRate)
		# robotOut.setDriveRight(-0.8*rotateToAngleRate)
	
	
	public void zeroYaw() 
		# this.rotateToAngle(0)
	
	public void ninetyYaw() 
		# this.rotateToAngle(90)
	
	public void oneEightyYaw() 
		# this.rotateToAngle(180)
	
	public void twoSeventyYaw() 
		# this.rotateToAngle(270)
	
	
	public boolean atAngle() 
		return turnController.onTarget()
	
	@Override
	public void pidWrite(double output) 
		rotateToAngleRate = output

Camera usage

Will we use a Limelight or something for tracking objects
What objects can we track?
What about driver view

Jimmie's Tasks

Wake up
Eat
Go to bed

Jeury's Tasks

Eat
Hw
Sleep

Drivetrain Tasks

What motors does it have?

Cims
Pneumatics

What sensors does it have

Cimcoder v2

What kind of motion is the component responsible for?

Speed and rotation

Create a list of functions that the component will do

Drive
Gear up and down -Shifter-

Unknown:

Can we gear up when the robot is moving?

What motors are needed for the swerve-drive?
What are the sensors that are need for the swerve-drive?
What motion is the drive-train responsible for?

An issue with the elevator

The elevator target position resets to 0 every time the execute function runs.

Create initial robot code

@JimmieB and/or @JonnyG511 to get us started can you:

Identify which motors we're using for mechanisms this year, and what IDs they are
- This doesn't need to be a complete list
Fill out the initial robot.py in robot/robot.py... you can probably use the magicbot example at https://github.com/robotpy/examples as a template to use
Make sure the initial code starts in the simulator and shows the motors that you created

Once you do that, I'll add some physics to reflect those settings. Thanks!

Hatch Intake Tasks

What motors does it have

Bosch Seat Motor

What sensors does it have

Built-in hall effect encoder

What kind of motion is the component responsible for?

It would go up and down at a certain angle either 45 or 90-degree angle

Create a list of functions that the component will do

goes up and down

Define components of robot

For each low-level component, we need to answer these questions:

What motors does it have
What sensors does it have
What kind of motion is the component responsible for?
Create a list of functions that the component will do

Elevator Tasks

What motors does it have

2 775 pros - both driving the same output

What sensors does it have

One VersaPlanetary Integrated Encoder

What kind of motion is the component responsible for?

Moving the intake up and down
Going to particular positions

Create a list of functions that the component will do

go to specific position
STOP
Incremental up and down?

Grabbing Things

What kinds of things are we grabbing?
How heavy are the objects we are grabbing?

Cargo Intake Tasks

What motors does it have

NEO Brushless
OR
775 Pro

What sensors does it have

None

What kind of motion is the component responsible for?

It will rotate clockwise and counterclockwise

Create a list of functions that the component will do

Intake
Outake(?)

Mechanical Design(Arm):

On the 2nd layer of the elevator, the arm will be attached to it.
As the elevator moves the arm will have to rotate up, and it will rotate downwards as the elevator descends.

control

What buttons are we using?
where can the buttons and the joystick go?
What is the button layout
joystick dead bands

CTRE Motion Magic

Here's the documentation: https://phoenix-documentation.readthedocs.io/en/latest/ch16_ClosedLoop.html

Autonomous/Hybrid mode

What motors are they using
What kind of motion is the component responsible for
What sensors do we need to control it

frc6367 / 2019-robot Goto Github PK

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