Note Viewer

• Shasank & Eddy with help from mentor V attached the Limelight back on to Poly to continue with Limelight testing, specifically rotating to angle
• David & Sam put the connectors on the 6 new batteries that we got in the shop yesterday
  • Names are TBD
• David & I took connectors off the 2017 and older batteries so the batteries are ready to be disposed of
• Laura, Malia, & Caden started making the schematic for the 2019 electrical system, using the board that Sam & I began on Sunday
  • I believe they finished the RoboRIO & will begin PDP???
• Limelight
  • Shasank, mentor V, and I continued working on the Rotate_To_Angle_Limelight on Poly --> it is mapped to "B" on controller 1
  • Command and control are believed to be set up correctly but when we pressed the button it would not work
  • Terminal threw out a bunch of warnings about the code not running often enough --> not actually causing any issues, just annoying, and something we should try to fix...
  • So we then checked the gyro on Poly and it proved to not be working as well (Atla-Z's issue from a few days ago sound familar???)
  • After some additional testing on Atla-Z, Poly, & Frisbee, we determined that the RoboRIO itself was not the culprit, instead it was the new 2019 firmware
  • From Adam at 11 after the meeting... "The gyro issue from tonight is likely due to this bug in the FRC update v12:

    ""Auto SPI Does not work in v12 image (affects Analog Devices IMUs and Gyro)) - The Auto SPI functionality used by Analog Devices IMUs (ADIS16448 and ADIS16470) and Gyro (ADXRS450) does not work correctly in the 2019-v12 image that is part of the kickoff release.""

    v13 was release a few days ago, mostly to fix this. I thought I'd updated the rios with v13 but I'm now thinking I did not. We can give that a try tomorrow, but it sure sounds like the culprit.
    Not a RobotPy thing, this affected all teams. "

  • From Adam the next afternoon: 
    "Formatting the rios on AtlaZ and Poly to v13 fixed the gyro problems. Frisbee is still on the 2018 image but I think that's fine for now. It was useful in narrowing this problem down, at least."

• GYRO issues (see above)
• People not cleaning up after themselves
• Battery naming

1. Verify Roborio (gyro, actually) will be close to center of rotation on robot. Rearrange layout accordingly.
2. Make list of all the general & subteam specific electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
3. Continue wiring the DT1 once it is done being assembled by mechanical (should be sometime this coming week)
   • Keep in mind that we need someplace for...
     • The breaker
     • The new ethernet switch
     • Two PCMs
     • Solenoid blocks, etc.
4. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested
5. Figure out the pneumatics situation
   • How many pistons?
   • Which pistons can be run together off of one solenoid?
   • How many double solenoids will we need then? ... if more than five, we will need another block ... if more than four we need another PCM on the robot
   • Will our compressor be strong enough to handle this all?
6. Get drivetrain code to work on the debugger (may just need to add the physics and sim files to the code???)
7. Build a set-up to run a motor when testing and making prototypes
   • Adam bought a 4-AA battery holder with on/off switch. Hook this up and try using it to supply the +5v power to the new motor tester
8. Vision
   • Now that the gyro is working again, this should be worked on some more...
   • 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)

As much as we can be without a robot to mount the electrical system on...