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Cy@ in a week Issac and I will most likely be available through messenger.

Sorry for lack of comments in the code... I was rushed

• Nearly completed all wiring on the practice bot
• Finished coding the new robot
  • No testing done
  • Code for all motors and solenoids
  • For the solenoids, we have to tell the code which PCM we are using

• I do not believe that the roborio is configured on the practice bot
  • Did not have time to fix that
• Apparently each robot needs 2 PCM
  • In total, we only have 4 working PCM. There are currently two on the practice bot, 1 on the comp bot, and one on the nonadrive.
  • "Additional PCMs can be wired to a standard Wago connector on the side of the PDP and protected with a 20A or smaller circuit breaker. Additional PCMs should also be placed anywhere in the middle of the CAN chain." http://wpilib.screenstepslive.com/s/4485/m/24166/l/290495-wiring-pneumatics
    • What is "Wago connector? " (Red and Black things)

      • The next step will involve using the Wago connectors on the PDP. To use the Wago connectors, insert a small flat blade screwdriver into the rectangular hole at a shallow angle then angle the screwdriver upwards as you continue to press in to actuate the lever, opening the terminal. Two sizes of Wago connector are found on the PDP:

  • The other PCM will most likely go near the Raspberry Pi and Radio

• Configure RoboRIO
• Make sure the code works
  • In simulator, everything works except for the gear pneumatics which I could not test
    • The simulator cannot handle 2 Pneumatic Control Modules (Maybe)????
  • Make sure all pneumatic constants are correct
• WIRE WIRE WIRE
  • Competition bot needs a lot of wiring
  • Practice bot needs solenoid and TalonSRX and PI and Radio
• Fix RPi login
• Try and connect to the frisbee bot
• Continue work on moving to the peg
  • See how well it works if we have to drive then turn 30 degrees in the case that we do not get the middle starting position.
• 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
• Auto strafing based on position values from camera and network tables
• 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
  • ​

getting there