18 Victor SPs (which are now discontinued so we can't get any more of them...)
2 Talon SRXs (+ 1 that is probably bad)
5 Victor SPXs
Determined what motor controllers we need for each mechanism (check the Electrical components spreadsheet in drive for a better description... FRC4096 --> 2018-2019 --> Build Season --> Electrical Folder --> Electrical Components)
Drivetrain: 6 Victor SPs
Hatch: 1 Talon SRX (or maybe can be Victor SPX once team decides to use integrated encoder w/ limit switches (SRX) or string potentiometer (SPX))
Climber: 2 Talon SRX for the ball screws (1 per axle) with integrated encoders AND 1 Victor SPX to run the back axle
Cargo: 1 Talon SRX for the arm with integrated encoder AND 1 Victor SPX to run the intake
Ordered more Talon SRX --> still need to determine if we need more Victor SPX
Crimped powerpole connectors and PWM connectors on all of the Victor SPs
Continued to organized the electrical components to Comp Bot and Practice Bot
Crimped ethernet cable (Thanks Nolan)
AtlaZ roborio is now imaged, loaded with robotpy stuff, and the PDP and Talons have been flashed with latest firmware. Changes to the CAN config system this year are poorly documented. For the record, the whole process goes something like this:
Install the FRC Update Suite for the new year
Use Roborio Imaging Tool to:
Update firmware on Roborio
Format it
Image it
Download & install PyFRC and Robotpy, plus any custom packages needed (ctre, pathfinder, etc)
Download latest firmware for any Talons being used on robot, and the PDP
Run CTRE Phoenix Tuner from desktop shortcut. Use it to install the firmware you downloaded
Challenges
Struggled to crimp orange ethernet cable for like an hour
General crimping abilites need improvement
Changes to configuring CTRE/CAN devices - not my favorite thing right now.
Work for Next Meeting
Fix AtlaZ code for xbox controller, so it works with new robotpy class.
Finish imaging/setting up Poly with 2019 stuff
Changes to the CAN config system this year are poorly documented.
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)
Drivetrain code
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.
Help other subteams
On Schedule?
Yea, next we need to get drivetrain code done so it is ready to run the assembled drivetrain at the beginning of the next week. Also need to continue working on vision because that needs to get figured out soon.