Mounted and connected tubes to the sensor as well (connects to the RoboRIO)
Wired the other switch to the PCM
Electrical:
Mounted motor controllers (4 Victor SPXs)
1 for cargo arm
1 for cargo intake
1 for hatch
1 for climber drive
Wired cargo arm, cargo intake, and hatch motor controllers to the PDP (but not to the motors yet since those arrive tomorrow)
Wired and mounted limelight
Made a plate that mounts on the side for the radio and ethernet switch
Mounted and wired the radio and ethernet switch
On DT2: mounted limit switches
Code:
Changed the names of some climber and hatch methods
Climber: up = robot moving up but screws going down; down = robot moving down but screws going up
Hatch: open = hold on to hatch; close = ready to intake a beak
Updated constants to match what is on the robot
Other:
Tried to run robot (EVERYTHING TURNED ON!!!)
Driver station was not getting coms even though the radio was connecting
Vasista tried to connect to the RoboRio --> he flashed it but I need more details to know what to do next
Challenges
Wire on 775 motor came off... need to find a better solution
Some struggles to wire the limit switches so they gave up
Not enough room on this robot for everything...
Work for Next Meeting
Pneumatics (comp bot)
Mount and connect tubes to the disk brake on the cargo arm
Electrical System (comp bot), wire & mount...
CAN Bus
create IDs for CAN Bus on Phoenix Tuner thing
climber back wheels motor
hatch arm motor
cargo arm motor
the ultrasonic sensors
(and find a home for) the arduino
light sensors
string pot & regular pot
LEDs :)))
Robot Code!!!
Talk to Marlow & Sam about buttons and controls for the robot (as of now climber and drivetrain is on 1; hatch and cargo is on 2
Get ready for testing soon :)))
Integrate ultrasonic sensors
Add code for limelight to drive to the hatch
Integrate line sensors to hatch pid
Single climber command
Cargo set points
Wire electrical system & pneumatics of practice bot
Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested
Line Followers & Arduino -> someone (who is not Bryn and is going to both competitions) needs to understand this and know how to debug it...
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)