Note Viewer

• Ate Jimmy Johns
• Did a little more testing on the distance formula the camera uses
  • Figured it worked well enough for now.
• In the "Calculate Distance" command, I added code to make the robot drive forward until it is within a certain distance of the target.
  • At around 2 feet from the target, the camera is no longer able to see the retroreflective tape and we lose values
    • The code checks distance in the "is finished" function
• Created a command group named "drive to gear" (not a good name)
  • It repeats a four step process 10 times
    • 1. Rotates towards the peg
    • 2. Drives towards it for 1 second
    • 3. Put motors in reverse to stop robot
    • 4. sets motor values to 0 (no movement)
  • This is not 100% accurate, but it helps the robot go in an choppy arc towards the peg.

• The battery velcro is weak, and when mikhail drives the battery flies out of the robot
• When the robot gets too close to the gear peg it loses vision.
• without automatic adjustment for driving, the robot sucks at going straight.
• Turning small amounts (as needed when we rotate towards the peg) is choppy
• We are running out of buttons for testing haha.
• At the moment, the code is checking the camera values way too often.

• Continue work on moving to the peg
  • At the moment, we are constantly checking distance values to see how far we are, but we need to do something like "rotate_to_gear" where it checks the value once and then moves to it
    • This might mean using encoders to see how far we have moved
• confirm and order electrical bom for new robots
• Work on auto mode that follows path, similar to one we'd need to get to a peg, test and see how consistently it can be navigated
• Work on electrical organization for new robot.
• Auto strafing based on position values from camera and network tables
• Test out the NavX more, decide if it's a better gyro than our regular gyro, and what other features might be useful.
• If not using NavX, do some testing with the gyro to see how far off the values are, seeing if it is possible to fix the inaccuracies...
• Get streaming working well on raspi
  • Probably use custom python http server in vision_helper script
  • example http://answers.opencv.org/question/61070/streaming-http-server-from-inside-opencv2-python-script/
• Get exposure control on driverstations (Needs Work)
  • works on linux, not windows

List from Mike (preventative measures):

• Batteries
  • Battery Beak, logging and tracking internal resistance
    • Make a google spreadsheet to track battery data
    • Use computer to collect data/make a graph about voltage over time
  • Put meaningful labels on the batteries
  • Build load testing board
    • Resistors!
• Power Distribution Panel
  • ​Can read voltage/current on every port
    • Could be used for diagnostics
• Make a checklist
  • Learn how to read LED indicators on all components
  • Guidlines for checking wire integrity
  • Unit tests in robot code
    • Check to see if sensors are working?
    • Motors running correctly
    • Battery has enough voltage
    • Check the pneumatic pressure as well as solenoids
  • Useful for prematch/prebagging​
  • Voltimeter between the various locations
• Sensors
  • Range finders - analog IO -> RIO (code)
  • Touch sensor - digital IO -> RIO (code)
• Checkout Code // Comptetion Code
  • ​

Possibly