Note Viewer

• Limit Switches
  • Talked to climber people (chris): will need 2 limit switches for each axle so 4 per climber (8 total)
  • Talked to hatch people (also chris): will need 2 limit switches per hatch mechanism (4 total for two robots)
  • Already have seven of the desired ones (the limit swithces with the longer paddle) so I ordered another 10
• Ordered a more powerpole contacts and connectors (250 pairs) because I currently estimate we need about 60 pairs per robot, assuming a max of 16 motor controllers.
• Found another Grayhill encoder (no idea if it is any good...) so now we have three in a bag on top of the electrical stuff
• Helped Hatch with their prototype to run motors and such
• Moved carpet and discussion areas
• Adam attempted to image the roborio on Atlaz, but it failed and then refused to boot. Known problem with some roborios this year, will call NI support Monday.  Successfully imaged a spare roborio and swapped it out w/Thomas.  New robotpy has a couple xbox controller changes we'll need to make Atlaz robot code changes for.

• Roborio on Atla-Z being a pain

1. Finish roborio imaging, robot code adjustments on Atlaz & Poly
2. Reduce bandwidth so Atla-Z can run smoothly
3. Figure out what motor controllers are desired for the robot this year...
4. 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)
5. 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

I would like to have limelight stuff tested and working on alta-z and/or poly better but due to other issues with the robots, that is currently not the case... other than that, we are on schedule I believe