Note Viewer

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

• Mounting line trackers < 1/4" from floor
• Broken gyro pins/slot on Atla-Z Roborio

1. Make list of all the general electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
2. Begin wiring the DT1 once it is done being assembled by mechanical (should be sometime this coming week)
3. 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 
4. 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)
5. 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
6. 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)
7. 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.

so far