Note Viewer

• Imaged both of the new limelights --> 2019.2 firmware
• Mounted and wired 2nd new limelight on Atlaz so that it could be imaged
• Tried out the new settings on the updated firmware on the limelights on Atla-Z
  • Was able to differentiate between two targets very well
  • Would only recognize one target at a time, no more combinations of target's being recognized
• Organized most of the KOP stuff and continued sorting electrical components into the "competition robot" and "practice robot" bins

• Electrical folder in drive has two new important documents
  • 1. Semi-Autonomous goals --> https://docs.google.com/document/d/1rqMu4K7OhKZgMAffEntnjSeZP25-G3-54dXHE_Is19c/edit
    • Goals for our semi-autonomous actions have begun to be outlined after talking to various subteams
    • Drivetrain: nothing special, just drive correction as usual
    • Hatch: hopefully vision (using limelight) that will align robot to the hatch panel; unsure about horizontal movement of hatch mechanism, will that require vision as well?
    • Climber: ideally, the entire process will occur with one press of a button after aligning
    • Cargo: nothing specifically mentioned by the subteam, but setpoints (similar to those on the elevator on Atla-Z) would be useful if it has a pivoting arm
  • 2. Electrical Components 2019 --> https://docs.google.com/spreadsheets/d/1R2yx9saHHgDUfedBxYLhBfqnmzZVNmzrEpc1qlQCOJc/edit#gid=243534005
    • Mechanical subteams, as they finish up prototypes and determine final designs in the next couple weeks, are expected to give detailed lists of what electronics they require
    • This is a spreadsheet for all of this to be documented on
    • Includes motors, motor controllers, encoders, limit switches, pneumatics, etc.

• Poly, where the first of the new limelights is currently mounted, was not responsing well to driver input
  • There might be some sort of issue on the drivetrain
  • Could be due to our ziptieing of pieces of the drivetrain up so that they wouldn't drag
  • Something to look into in the next few days...
  • For now, the fix is to use the limelight on Atla-Z

• Imaging takes about 15 years on the Limelight
• Current large ferrules are garbage (aka they are too long so they must be cut before going into the connector --> new ferrules should not be as long)
• Need more ferrules and 18 awg

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)

• 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
• 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 --> this has been started, but more work is definitely needed
  • 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.
• 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

Lol