strykeforce / thirdcoast Goto Github PK

When you save a Talon configuration, the voltage ramp rate is not saved and will always come up as default when you load a configuration in TCT

This is a fun one!

The new RobotController class has a bunch of new methods to get roboRIO info. Let's make them available to the grapher.

Something got missed here.

1. While the analog raw shows up in TCT, it does not show up in the Grapher. And I did see it work at midlink with my own eyes.
2. The order of the frame rate settings is not changed. General is not first.
3. The servos and the DIO output stuff does work.
4. I downloaded and confirmed V22 made it all the way to the Roborio twice.

VM Window and VM Period need to by exchanged in the screen order. The readout is correct, VM Period just needs to be before VM Window in the list.

@rkalnins - classes intended for use outside the library should have thorough docs. Please include java doc comments for methods in these classes.

We need the ability to read the digital inputs. TCT could just read all 10 ports and report them all at once. The grapher could show all 10 ports so that you could watch which ever combination you wanted.

The error message and stack trace is not very clear if you call SwerveDrive.getInstance() before TalonParameters.register(...).

Find the Ascii art in /etc/motd on the practice roboRIO.

We need a way to see the current list of saved configurations to facilitate saving the configuration under a current name.

With the old BDC and Grapher you could select what type of device each channel of the grapher watched. For example you could watch the position of a talon controlled axis while also watching a DIO port waiting for something to get triggered. Not sure we can to that with TCT. In the old BDC, once you talked to something with BDC, it was on the list of available things the Grapher could watch. In TCT it appears only the active items in TCD are shown in the Grapher.

It would help add clarity to the screen if we separated "events" with a line feed. Basically everything after the last line feed blank line goes together. I just find myself having to focus on where the relevant info is to the next keystoke I need to make. I might need to actually run this and show you live what I am talking about. Just wanted to capture the thought.

l notice that this lib uses motion magic to control the turning motor. However , how do you calculate your paarameters like kP,kD , motioncurisevelocity , motionacceleration and so on? Would you provide any advice. l have read the CTRE's docs about motion magic, but l still don't know how to tune these parameters?

Any answer is appreciated!

This is minor ...

When you launch TCT, there is a small delay before you see anything happen. Is there a way to do some dot across the screen or some type of activity so that the moment you hit enter, you know something is going on. Just thinking about user comfort.

We use the healthcheck on a yearly basis and it should eventually get rolled into TC.

@rkalnins - do we need to construct this object with this parameter? I'm assuming that the "first" lastValue is zero. Even if the joystick is held at max when enabling, the robot is not moving so the effective last value is zero.

Having said that, do we need to reset the lastValue back to zero when restarting the tele-op driving command?

• Upgrade a DS to 2018.
• Run CTRE installer to intall Lifeboat.
• Pull down the circle photo-bot.
• Upgrade the roboRIO to 2018 image.
• Run Lifeboat and upgrade roboRIO web pages.
• Flash all the Talon firmware to 3.1.
• Write a small robot program to call getStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs) on one of the Talons for each of the StatusFrameEnhanced values and record them.

Can't we just subtract down below? 🙄

Inspect Selected Talons always reports Peak FWD and REV output voltages to be "default" even when they are set and then verified in the Web interface to be set in the talon.

There does not appear to be a place to set Coast vs Brake mode. I would add this to section 3, Output Limits and Ramp rates.

Need to add the ability to set these in the "closed-loop tuning" section. Make cruise #7 and Acceleration #8

If you watch the DIOs as inputs, things work fine all the way through the grahper. But if you then use TCT to control a selected DIO as an output, TCT crashes

None of these need a 'ms' suffix

The tct utility is logging at debug level currently, should lower to warn.

The VM Period and Window are not saved when you save a configuration. They always load as the default 100ms and 64 samples. If you also de-select a talon and then re-select the same talon, they also reset to 100 and 64.

Currently you just hit enter vs a new value to back out of controlling a talon or dio. Is there a reason we would not also add "B" as an option as well. I keep finding myself hitting "B" and then realizing I just need to hit enter. Nothing wrong with enter, just wondering is we should add B.

for 2018 CTRE changes

Probably make sense at some point to refactor ClientHandler into a interface, it really only has two methods:

public interface ClientHandler {
  void start(Subscription sub);
  void shutdown;
}

Then we could implement a GrapherClientHandler and SplunkClientHandler with different payload formats.

At the same time I'd probably just put the client UDP destination port into the subscription since I'll be updating the format for ClientHandler.

The following menus are always used together so we want to merge them into one menu item:

• List Selected Talons with Current Register Values
• Inspect Selected Talons Configuration Settings

These actually display two very different sets of information so we will need to keep that clear in the merged information that is displayed.