team1559 / 2020-2021-infiniterecharge Goto Github PK

Currently the chassis has no current limiting and browns out the robot when accelerating in high gear

Let's monitor the chassis motor temperatures and add a logged variable for it.

The Robot depends on the subsystems. The subsystems should not depend on/import the Robot. PowerCell currently does this in order to access the operator interface. A better method would be for the Robot to pass its operator interface to the PowerCell constructor. The PowerCell can keep a reference to the OI around and access it as needed.

Needs to track movement (rotations) and light the light, and sense the current color.

Will be similar to the power cell shooter current limit

Intake:
Type of motor: Bag motor or 775 motor (SR) ( Spark)
number of motors:1
Storage:
Type of motor: 2x mini CIM (SRX)
number of motors: 2
Targeting:
Type of motor: NA
number of motors: NA
Shooting:
Type of motor: NEO brushless (SPARK MAX)
number of motors: 1

Making sure the chassis is durable

Currently, the motors for the chassis run in percent output mode... this is unacceptable... we need to convert it to velocity mode at some point!!!!

The Storage, Shooter, Feeder, and intake motor PIDF controllers need tuning when the final parts are manufactured.

We will need to talk to electrical to get this figured out

Winch: Cim- current(SRX)
Lifter- cim, current(SRX)
2x level - bosch-current(SRX)

Single camera: https://docs.wpilib.org/en/latest/docs/software/wpilib-tools/shuffleboard/getting-started/shuffleboard-displaying-camera.html
Multiple cameras: https://docs.wpilib.org/en/latest/docs/software/vision-processing/introduction/using-multiple-cameras.html

This needs to be done so we don't pull too much current on the shooter as well as on the climber winch

Tune the current limits

Convert the manually created motor widgets to Oblog widgets to make the code better and more cohesive.

Tuning the PIDF controller on the chassis for velocity mode

Adjust camera settings so we meet the 4Mb/sec bandwidth limit with some headroom. Suggest we aim for 3 Mb/sec while the camera is moving. Figure out how to make those settings persistent so the robot uses the correct settings by default.

4x Brushless Neo motors
Velocity control(SRX)

Getting the color spinner code ready for a PR

775 Pro -velocity control(SRX)
Color sensor

We're currently relying on the acceleration ramp rate set in the SparkMAX memory. We should do this in code instead in case we need to reset a device.

We should also reset the device to factory defaults at initialization, based on our discussion at tonight's meeting.

The IMU will be positioned up so pitch would be roll, roll would be yaw, and yaw would be pitch

Install the navX-MXP onto your robot. ENSURE that one of the navX-MXP axes (as shown on the navX-MXP circuit board) is perpendicular to the earth’s surface. This axis will become the yaw (Z) axis. Note that this axis can either be pointing away from the earth’s surface, or towards the earth’s surface.
Press the ‘CAL’ button on the navX-MXP Circuit board AND HOLD THE BUTTON DOWN FOR AT LEAST 5 SECONDS.
Release the ‘CAL’ button, and verify that the orange ‘CAL’ light flashes for 1 second and then turns off.
Press the ‘RESET’ button on the navX-MXP circuit board, causing it to restart.
The navX-MXP circuit board will now begin OmniMount auto-calibration. During this auto-calibration period, the orange ‘CAL’ LED will flash repeatedly. This process takes approximately 15 seconds, and requires two things:

1. During auto-calibration, one of the navX-MXP axes MUST be perpendicular to the earth’s surface.
2. During auto-calibration, navX-MXP must be held still.
   If either of the above conditions is not true, the ‘CAL’ LED will be flashing quickly, indicating an error. To resolve this error, you must ensure that conditions 1 and 2 are met, at which point the ‘CAL’ LED will begin flashing slowly, indicating calibration is underway.
   Once navX-MXP auto-calibration is complete, the Board Frame to Body Frame Transform will be stored persistently into navX-MXP flash memory and used until auto-calibration is run once again.

Determine what components (sensors, motors and motor controllers) will be used in the power cell system. Understand control requirements for how the system is intended to work (what's under driver control, what need to be automated with sensors, which components can be run in reverse, etc.). Also document parameters that need to be tunable (velocities/motor power settings), current limiting, etc.

The shuffleboard SendableChooser stuff is currently in Robot.java. It's chassis-specific so it should live in Chassis.java.

The feeder motor needs to be in position mode when stopped but it needs to be in velocity mode when spinning

Determine what components (sensors, motors and motor controllers) will be used in the control panel spinner system. Understand control requirements for how the system is intended to work (what's under driver control, what need to be automated with sensors, which components can be run in reverse, etc.). We also need to know how position control will be maintained. Also document parameters that need to be tunable (velocities/motor power settings), current limiting, etc.

Determine what components (sensors, motors and motor controllers) will be used in the climbing system. Understand control requirements for how the system is intended to work (what's under driver control, what need to be automated with sensors, which components can be run in reverse, etc.). We also need to know how position control will be maintained. Also document parameters that need to be tunable (velocities/motor power settings), current limiting, etc.

Power cell system motors (intake, storage, and release motors) are set to 75A peak, 40A continuous. We should be able to tighten these up.