reset-robotics / 2019-robot-code Goto Github PK

Implement a command (and subsystem functionality) to optionally autobalance the elevator mechanism. This command should only run while the elevator is moving, if the elevator is stationary it should not.

Add network tables communication to the LEDController subsystem on the roborio side of the LEDs.

Add main subsystem code for 'r-brake' deployable wheel attachment on the drivetrain. This is separate from the drivetrain so it makes sense as a separate subsystem.

Implement arcade joystick style control for the mecanum drivetrain

Implement command to control the direction and speed and of the intake's wheels

Using gradlerio we should be able to build to the Rio, Arduino, and Jetson all at once

Implement a command to move the elbow join on the mechanism. This should work via passed parameter for a power number (between -1.0 and 1.0) or something similar to allow for bi-directional control. The elbow should automatically default to brake mode when it is not moving.

Add main subsystem code for the cargo/panel Intake mechanism. This subsystem is for the cargo intake part of the mechanism.

Implement motion profiling and the related profile following command(s) in the drivetrain subsystem.

Create a ToggleCurrentRamp command for current ramping. This functionality will have to be added to the Drivetrain subsystem.

Implement command to spin the compliant wheel on the cargo intake.

Implement command and functionality to automatically apply a brake on the arm's wrist when stopped to prevent it from moving out of place when not moving.

Implement subsystem code for our forklift

Implement throttle functionality to use a slider to control the drivetrain throttle percentage (like the post-season throttle for Polybius).

Add drop wheels as something extra later. Just create a mecanum drive subsystem.

Add main subsystem code for the panel Intake mechanism. This subsystem is for the panel intake part of the mechanism.

All recognizable images should be classified in a way that the program understands in normal units how big they are in order to give it a way to convert pixels to real-world measurements based off the image detected. This will be helpful for determining the height of things, how well we're lined up, and anything else we need to do math for.

Add a command and subsystem functionality for toggling the ability for the driver to override robot control.

This will be more accurately an OI implementation doing the ''while held" to a braking command.

Implement a command to allow slaving the r-brake to the drivetrain y input values. Like ArcadeJoystickDrive for the r-brake.

Implement a command (and subsystem functionality) on the arm that allows for automatic usage of the arm's elbow moving it to set encoder positions via motion magic.

Implement command and functionality to keep the arm straight and upright as it moves

Implement command and functionality to automatically apply a brake on the arm's wrist when stopped to prevent it from moving out of place when not moving.

Implement automatic deployment of the r-brake when the anti-lock brake is turned on.

Add a command and functionality to the elevator subsystem that toggles the use of the automatic brake. The auto brake should enable when the elevator is stopped to prevent it from falling while placing cargo or a panel.

Implement command and functionality to automatically stop spinning wheels when ball is fully in the intake

Aside from doing multiple things at once on the same LED strip, the LED library is mostly complete. It needs some overall clean and polish then should be turned into an API we can use.

Create main subsystem code for the scoring arm on the elevator. This arm will have elbow and wrist joints. The joint motors have encoders and should be able to go to specified encoder values (like motion magic)

What the title says. Something like from 2018 polybius IDs.

This can be image recognition or vision tape assisted. Vision tape may be something worth implementing either way in order to have a way to double check our math.

Add a command for toggling field oriented mode and bind it to a trigger in the OI script

Implement a command to move the wrist join on the mechanism. This should work via passed parameter for a power number (between -1.0 and 1.0) or something similar to allow for bi-directional control. The wrist should automatically default to brake mode when it is not moving.

Using a gyro pid loop, add the ability for the subsystem to automatically adjust motors by a set increment in order to attempt to correct for any tipping in the forklift if the angle is anything other than 0.

This command should provide the ability to call this command with a LED signal name from another part of the robot code and send a signal to network tables to run a specified LED pattern.

Add a command to control deploying the r-brake.

Implement anti-lock brake on the r-brake and ability to toggle its use.

Implement a command (and subsystem functionality) on the elevator that allows for automatic usage of the elevator moving it to set encoder positions via motion magic.

Add main subsystem for the CameraController subsystem. This subsystem will control managing any camera feeds that need to be accessed/used in the rio code. It should communicate with the Jetson for any vision feed data as well.

The robot should detect scoring areas or panels/cargo and automatically calculate the distance/alignment of the robot compared to them. This may be assisted with ultrasonic sensors later on, but a majority of the logic should be based off vision calculations. Allow setting of parameters for the threshold of how aligned/close the robot needs to be from whatever its objective is before doing the action.

Add a command and functionality to control the height of the elevator with a joystick.

Implement a command (and subsystem functionality) on the arm that allows for automatic usage of the arm's wrist moving it to set encoder positions via motion magic.

Add all of the necessary libraries in their latest 2019 versions to all of our gradle configurations.

Create the main subsystem in the robot code for the LEDController.

Add network tables data communication on the Arduino side of LEDs.

This should just include basic teleop/sandstorm driver control.

Add main subsystem code for the scoring elevator. This elevator should have things like automatic scrub correction, the ability to move both sides of the elevator (there will be two encodered motors; one for each side), and motion magic esque encoder position based movement.