Note Viewer

CLIMBER: After talking to Thomas about the climber, it is clear that limit switches are needed to make sure that we don't destroy any ball screws. Additionally, they will all need encoders so that they all move at the exact same speed so the robot can smoothly drive on to the platform at the end of the match.

Work on Limelight vision:

• Update: Poly gyro is functioning correctly
• Adam demonstrated the robot's ability to turn towards the target using the renamed Rotate_To_Angle_Limelight (previously LimeStop) command in Poly's code, which still is a subclass of the Rotate_To_Angle class already on Poly
  • During lunch, Adam had got it working --> Rotate_To_Angle was not working so a few issues on that were fixed
  • Now, Rotate_To_Angle_Limelight feeds the Rotate_To_Angle the tx value (angle between current robot position and ideal position that is aimed at the crosshair of the target) and turns the robot accordingly using the rotate PID loop from either direction
• Limelight is able to identify pairs of reflective tape
• Eddy worked on changing the Limelight values so that it will "prefer" the correct pair of reflective tape,  (Still needs to be fixed)
  • Messed with Width-Height ratio (called "W/H Ratio") on the "Contour Filtering" tab of the limelights address
  • Also could be fixed if driver is expected to drive until only one target is in view of the limelight (by checking the camera stream on shuffleboard) and then use this command

Other work:

• Began to organize key electronics parts into two bins so that we will know where things are when it's time to assemble stuff
  • Competition Bot
  • Practice Bot
• Began taking stuff out of Kit of Parts to organize them
• Explained a lot of the electrical system to Malia while we organized it

• Worked toward correcting limelight identification of pairs of reflective tape. However, when the robot is looking at two vision targets straight on, the height and width ratio seem too similar and the exact number values cannot be changed between the two pairs.
• Have not attempted the range yet 
• Not enough time tonight after team meeting & discussion with Adam to get super far in limelight progress

LIMELIGHT VISION: Drive robot towards vision target so the target is in view of limelight; then have robot drive to a specified distance and turn to a specified angle from the vision target (using a calibrated position and the tx & ty from the limelight)

• Flash Poly's Limelight to 2019.2 firmware. It contains new filters that should solve the "targeting the wrong pair" problem.  Forum post, Limelight downloads. We haven't flashed ours yet, so you'll need to download the flash utility.
• Continue learning how to use limelight
  • Specifically learn what all of the different values on the network table are and how they can be used
  • Continue to look into the Limelight documentations
• Continue working with the different settings to determine if limelight can distinguish between the two separate targets 
• Go to specified range from target (check case studies on limelight website & documentation)
• Go to specified range and aim at target (again check case studies)

LINE FOLLOWING:

• Research how the team could use line following sensors on the robot
• Would be used to follow the white tape that is centered coming out from the spots where hatch panels are placed
• Adam says that we probably have some sort of line follower in one of the boxes of electrical stuff so start there when testing anything!
• Should line following be used instead of limelight vision in some places? Together with limelight vision? Or not at all this year?

OTHER: 

• Talk to other subteams and drivers to determine what semi-autonomous controls are desired --> need list of everything we wish to accomplish and order of priorities
  • Will need to finalize these after designs are finalized but should start to get an idea now
  • Then figure out what the best ways are to implement them
  • Encoders? Gyros? Limit Switches? Vision? Line Following? etc. etc.
• Organize all of the extra electrical components that were stripped from Poly
• Organize all of the stuff in the Kit Of Parts, specfically electrical stuff but also give the other stuff to respective subteams that could use them
• Continue putting key electrical components into comp bot and practice bot bin based on the "newness" level of the parts
  • Newest stuff goes to comp bot, and next newest should go to practice
• Determine what other electrical components we need for the next season --> probably some motor controllers and such but how many? what type? etc.
• Begin framework of 2019 robot code, and as soon as drivetrain is decided (ie. 3 mini-CIMs per side & encoders etc.) this code can be written
• Help other subteams

I guess so