Electrical & Code 2019
Students
Mentors
Date & Time
Location & Author
David S.
Sam K.
Shashank H.
Adam P.
Aquiferland
Bryn G.
Work Completed
Line Tracker
- Received 3 VEX Line Tracker sensors
- Marlow made male-to-male PWM cables for trackers
- Sam mounted them on wood support on front of AtlaZ
- Sensors return analog values ranging from 120 to 4000 or so. Must be within 1/4" of carpet to get valid reading
- Open air is 3800-4000. Red carpet returns value of 3300 of so. White gaffers tape lines have value of 120-300.
- Plan was to use vision to align and get robot closer to hatch target, then use line tracker to guide it rest of the way. However, in testing Sam and I observed the limelight has a pretty good read on the targets until it's quite close. If we get that tuned well we may not need line trackers.
Limelight
- Adam started a basic "limelight" subsystem in AtlaZ. Sam copied it to 2019 AtlaZ repo
Atla-Z Gyro
- After a lot of testing by Adam, Bryn, and the new CS mentor V, we determined that the gyro slot on the Roborio on Atla-Z is not working
- Adam will call National Instruments when he has time to get this fixed or exchanged or something
Other
- Took Limelight and line trackers off of Atla-Z so drivers can use it tomorrow for driver practice
- If the drivers want to use the limelight, they can add it back to Atla-Z but they won't be able to use the elevator while driving due to the setup
- I believe that basic drivetrain code for 2019 robot is basically done but might need some work
Challenges
- Mounting line trackers < 1/4" from floor
- Broken gyro pins/slot on Atla-Z Roborio
Work for Next Meeting
- Make list of all the general electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
- Begin wiring the DT1 once it is done being assembled by mechanical (should be sometime this coming week)
- Poly Work...
- Attach limelight #2 to poly again (on the front)
- Detach the climber set up and get Poly's shooter up and running again
- Build a set-up to run a motor when testing and making prototypes [ <-- hold off on this, we ordered a motor tester - Adam ]
- Zach suggests using a three way switch (on forwards, off, on reverse)
- One side, the motor is plugged in (two smaller anderson connectors)
- A battery is plugged into the other side (large anderson connector on the battery)
- Drivetrain Code
- Continue working on robot.py, const.py, and oi.py, commands/drivetrain.py & subsystems/drivetrain.py
- Add the limelight subsystem that Adam added to 2018 code
- Goal is to be done by early next week when the drivetrain is supposed to be done
- 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 Poly again. 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)
- 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.