Note Viewer

• Finished control board with just the RoboRIO, PDP (connected via CAN bus), 6 Drivetrain motor controllers (Victor SPs - PWM), VRM, Breaker, and Battery
• It all turned on and worked!
• Connected RoboRIO directly to computer using an ethernet cable instead of dealing with adding a radio and configuring it...
• Adam updated a bunch of stuff on the computer and the RoboRIO and put new firmware on the PDP using the new CTRE platform
• I edited the code to get rid of everything having to do with the gyro, encoders, drive correction, PIDs, etc to run the two gearboxes
• Broke in the two mounted gearboxes for 20 minutes in each direction with a lot of grease
• Thomas & David created the cables for the two encoders for DT1 (5 pin connector using 2 PWM cables)
  • One encoder is mounted on top of the gearbox
  • Other encoder is mounted on the bottom bc there was some issue with the top mounting holes --> will this be an issue with wiring? 
• When I left, Caden was working on the schematic some more

• Code had a lot of bugs that needed to be fixed to get the gearboxes driving. It probably would have been quicker to just created a new set of code that would just worry about driving the motors
• Keeping the two driver stations to be EXACTLY the same

1. Figure out the mounting for the limelight --> we want it somewhere on the Hatch side of the robot
2. Verify Roborio (gyro, actually) will be close to center of rotation on robot. Rearrange layout accordingly.
3. Make list of all the general & subteam specific electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
4. 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.
5. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested (or maybe eddy)
6. 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?
7. Get drivetrain code to work on the debugger (may just need to add the physics and sim files to the code???)
8. 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
9. 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)

I guess so.