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Limelight Vision

• Using new update, fixed limelight intersection bug
  • Saved a new download (Name is the date)
  • Committed modified 2018 robot code to Github, including limelight file, in new "limelight" subdirectory
  • Wrote code to rotate at an angle based off of limelight variables (semi-autonomous and incomplete)
• Replaced limelight with one from Poly.
• Reconfigured other limelight to have same static IP address - 10.40.96.11
• Changed Atlaz RoboRio to have static ip address.  10.40.96.2
• Rotate_To_Angle_Limelight command copied to Atlaz 2018 code.
• Both Poly and Atlaz now have working limelights, and can be used to test.
• Started creating a set of new electrical components that might prove useful this year
  • More info on #electrical on Slack

Line Following

• Grabbed a Rev v2 Color Sensor from FTC
• Nolan helped Malia and Caden solder PWM connectors to sensor cable
• Plugged into Atlaz and the sensor's light came on. We did not write any code or mount the sensor yet

Problems

• Robot is unresponsive at times (Fix Later) Delay in controls
• At a very specific position, limelight is confused on which pair of reflective tape to identify. This is likely due to both having very similar areas, which is probably fine.
• Limelight was not correctly configured in the beginning 
  • (Switched Limelights)

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)

• Get Rotate_To_Angle_Limelight command working on Atlaz.  PID will need tuning.
• 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:

• Mount the color sensor to Atlaz. Needs to be only a few centimeters away from floor, pointed at the carpet.
• Determine what sensor object to use in code to get values from it.  It's an I2C device.
• Would be used to follow the white tape that is centered coming out from the spots where hatch panels are placed
• Ultimate question is - 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

Yes