Electrical & Code 2019
Students
Mentors
Date & Time
Location & Author
Adam P.
Aquiferland
Bryn G.
Work Completed
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...
Challenges
- 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
- Not knowing the right and left side of the robot
Work for Next Meeting
- Finish labeling the electronics board on DT1 (and match code ports accordingly)
- ROBOT CODE!!!!!!!!!!!!!!!!!!!!!!
- Get drive correction working
- Climber needs some code
- So does hatch
- And of course cargo does too
- Put new firmware on the new RoboRIO (in "new components" box on shelves)
- Figure out the mounting for the limelight --> we want it somewhere on the Hatch side of the robot
- 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
- Make list of all the general & subteam specific electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
- 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.
- 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)
- 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?
- Get drivetrain code to work on the debugger (may just need to add the physics and sim files to the code???)
- 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
- 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)