Note Viewer

• Began testing on shooter with PID
  • calibrated values for PID loop
• Did some thinking about what issues we might be having

• There seems to be a problem where the shooter wheel slows down for split seconds at a time. This occurs irregularly about every 5 seconds and the slowing down of the motor is audible as well as visible (on the graph)
  • What seems to be occuring is that the motor controller for the shooter and agitator recieve a signal of value zero for a small increment of time.
    • This slows down the shooter by a fair amount leading to inaccuracy and also making it difficult to effectively tune PID
    • Because this problem occurs on two different different motor contorllers at the same time (Victor and VictorSRX) we do not believe it is an issue of the signal not being passed by wires.
      • Our leading theory right now is that our connection is not strong enough and we the robot is not recieving input from the computer often enough.
        • If this occurs, then the wpilib motorsafety thing turns on and sets all motors to 0 which explains the issue.

• Continue tuning shooter PID
  • FIX THE BUG
    • check bandwidth and packet loss
  • Do more testing
• 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
• Try and connect to the frisbee bot

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
  • ​

IDK