Note Viewer

At the shop...

• Wired the radio (Radio #2 - Practice Bot 2019) to the electronics board on DT1
  • Used POE connector --> super simple and easy to use
  • Mounted it to DT1 "belly pan" bars
• Mounted electronics board (with zipties) to the "belly pan" bars of DT1
• Charlie and others made a temporary battery holder out of wood
• Mounted said battery holder onto "belly pan" bars also with zipties of course
  • The battery is located in the front of the robot
• Drove robot around on the ground... it is super speedy!!! Check slack for a fun video
• Relabled, rewired, and changed code for the motor controllers 
  • Black powerpoles were connected to red powerpoles so those were all switched
  • I labeled motor controllers using the front of the robot, when in reality they need to be from the back so left should have been right and so on
  • It was all fixed in code and such but still needs to be tested on the ground (in code, the motor controllers might need to be inverted)

Code work at home...

• Began cargo subsystem
• Began climber subsystem
• Began cargo commands
  • Run_Cargo_Arm (meant to be a default command on one of the joysticks probably)
  • Stop_Cargo_Arm
  • Run_Cargo_Intake (meant to also be a default command but using two bumpers or something similar)
  • Stop_Cargo_Intake
• Accurate IDs for the drivetrain stuff that has been wired
• Random numbers for the rest of the IDs, need to change once actually wired of course
• Used the DoubleSolenoid class
  • Needs to be tested since our team has never used these
  • In the past, we have controlled our double solenoids using two Solenoid objects in code, I'm not sure why...

• Red powerpoles connecting to black powerpoles...
• Switching the locations of the powerpoles was very difficult
• All of the DT1 bearing block bolts were not loctited so one came out after 5 minutes of driving around
  • They were all fixed
• Not knowing the right and left side of the robot

1. Finish labeling the electronics board on DT1 (and match code ports accordingly)
2. ROBOT CODE!!!!!!!!!!!!!!!!!!!!!!
   • Get drive correction working
   • Climber needs some code
   • So does hatch
   • And of course cargo does too
3. Put new firmware on the new RoboRIO (in "new components" box on shelves)
4. Figure out the mounting for the limelight --> we want it somewhere on the Hatch side of the robot
5. Verify Roborio (gyro, actually) will be close to center of rotation on robot. Rearrange layout accordingly --> this is on CAD so as long as we use that lay out we should be good
6. Make list of all the general & subteam specific electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
7. 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.
8. 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)
9. 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?
10. Get drivetrain code to work on the debugger (may just need to add the physics and sim files to the code???)
11. 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
12. 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)

Sure.