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• Climber
  • Ultrasonics were mounted, but had to be moved inward to avoid jutter/reflections off chain. Still a bit noisy when tested over the hab level manually, but need to do more tests. Moved on to getting climber code working
  • Climber code changes to get limit switches working as desired. Looks like "normally open" wiring returns False when the switch is closed? Unexpected. Since comp bot is wired the same, we just inverted the result returned by the "hit" functions
  • Replaced bolts on limit switch touchplates with rivets, so they will actually reach the switches
  • One of the four limit switches won't close its switch, due to how the trigger was bent into shape. Needs to be rebent or replaced. (back top I think)
• Hatch
  • Billy changed line sensor array wiring to every 3rd sensor, which seemed to fix the last remaining issue
  • Arduino will now return 0-22 or 23 to robot code
  • Mounted array on robot. Needs to be removed and re-ziptied, however, the wires are too loose now.
• General Code
  • Adam investigated the overrun warnings. Nothing conclusive, but found a couple things to try

• Sensor array power draw
• Names of climber commands can be confusing
• Limit switches 

ELECTRICAL:

1. Fix trigger bend on the one climber switch (lower switch on back of bot)
2. Remove line sensor array and re-ziptie the wires to be tidy and not hang out, then remount it
3. Ethernet switch has power wires run to it but they don't work. I don't know why, someone needs to troubleshoot it. For now the limelight's ethernet is running right to the radio. - Adam
4. Second light sensor array+arduino+polycarb holder needs to be assembled. Parts are on computer table.

CODE:

1. Write robot code/command to align hatch with position derived from line sensor data. Range is 0-22 or 23, and none/error value is 127
2. Test climber on hab and see how ultrasonics behave. If they aren't reliable we may need to switch to using current sensing for front, then read DT encoders for determining when to raise back
3. Continue investigating overrun warnings. Try disabling LiveWindow telemetry, suggested by Dustin on CD. If that doesn't help do a full cProfile and post code/profile for him to look at
4. 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)
5. PRIORITIES: 
   • 1a. Hatch auto-alignment with lines
     • mount light array & arduino, finish code
     • get arduino issue fixed
     • Arduino is just sending the same value (12) across the i2c but at least it is sending something I guess
   • 1b. climber stils moving at the same speed
     • Discussed today to use positional pid
     • From Adam: 
       There's no overshoot or acceleration to speak of, so honestly PID is prob overkill for climber. You could just make a command that sets the front and back speeds to X, then monitors the encoder positions every call to execute.  If they differ more than some threshold value, lower the speed sent to the faster one by 10% or something.
   • 2. cargo set points (all the way down, all the way up, etc.)
     • Test did not work, need to check again and keep working on it
   • 3. 1 step climber process
   • 4. Drive to vision targets using limelights

OTHER:

1. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested

COMP BOT:

1. Pneumatics (comp bot)
   • Check regulator and be sure the flow direction is correct
   • Fix leak on hatch mechanism
   • Get cargo arm brake working
2. Comp Bot electrical system (TO DO AT COMP)
   • Make sure all climber switches close as expected
   • Make sure 3d printed climber touchplates all touch switches as expected. Might need blots replaced by rivets.
   • Mount, connect and test line sensor array
   • check if encoders are working
   • change pot values
   • the ultrasonic sensors
   • arduino & light sensor array
3. Code
   • calibrate line sensor array on field, update arduino code with that data
   • calibrate limelight thresholds on field

:(