Note Viewer

Question to ask mechanical team: do we need limit switches on BOTH ends of the ball screw things that we are currently planning on using in both the climber and the lateral hatch movement???

• Fixed the inverted controls on Atla-Z.
  • We first switched INVERT_JOY_LEFT_X, INVERT_JOY_LEFT_Y, INVERT_JOY_RIGHT_X, and INVERT_JOY_RIGHT_Y from True to False
  • After deploying, we found out that the controls were back to normal (yay), but Atla-Z's response time was pretty bad. The robot would jerk, react late, and produce an unsettling sound. 
  • We tried changing INVERT_JOY_LEFT_X, INVERT_JOY_LEFT_Y, INVERT_JOY_RIGHT_X, and INVERT_JOY_RIGHT_Y from False to True
  • The controls stayed the same (not inverted), but the other problems still existed. 
  • We restarted the computer and the poor response time and jerky-ness all went away (mostly). Atla-Z still makes a strange noise and driving it isn't the best thing in the world (drive correction is off, still some jerky-ness)
• Helped mechanical with determining whether or not our hatch mechanism should be capable to moving horizontally for better alignment (more details in their notes)
• Continued to discuss with the other subteams what sensors and semi-autonomous motions are going to be most important for their mechanism
  • Climber --> limit switches and encoders still, will hopefully have the entire climbing motion on to one button
  • Hatch --> side to side motion (if on ball screw, will require a limit switches on both sides???, encoder?, etc.) 

• Still mostly unsure why the controls were inverted
  • Would be good to try to figure out a cause and create a solution so it doesn't happen again
• Having a usable "cargo ship" prop for hatch practice (meaning it doesn't need two people to hold it up)
• David's poor driving skills

Check how many Greyhill encoders we have in inventory!  Need 4 + spare for drivetrains, and I want to order those asap. - Adam

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

So far so good

• Need to determine a person(s) who are willing to take the wheel of vision