Note Viewer

Pneumatics:

• Mounted and connected tubes to air tanks
• Re-routed some of the pneumatics tubing 
• 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

• 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...

1. Pneumatics (comp bot)
   • Mount and connect tubes to the disk brake on the cargo arm
2. 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 :)))
3. 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
4. Wire electrical system & pneumatics of practice bot
5. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested 
6. Line Followers & Arduino -> someone (who is not Bryn and is going to both competitions) needs to understand this and know how to debug it...
7. 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)

Uh not really but that's okay :)