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On Sunday (March 3rd)...

• Testing on cargo set points and more on the hatch line sensors
• Potentiometer on the cargo arm was shifting sometimes which was frustrating but we tightened it some more and it is working better
• Driver practice!
• Code work
  • Toggle button for limelight mdoe on d1
  • New manual mode for cargo that ingores the pot; also a toggle button on d2
  • First attempt at current sensing but needs some work
  • Code for LEDs to match what billy specified
    • Vasista added some more that is an ENUM and such to make it clearer
    • Not currently working... Adam said that we never put the led code on the actual arduino so it is bombing everytime we send it an LED value, leading to the light sensors also not working
  • Removed limit switch are cargo intake to prevent us from popping a ball
• Put new image on the spare rio so that we can use it at comp just in case we can't update ours

On Monday (March 4th)...

• Continued tuning PID on cargo set points, they work better now but will need to be tuned some more on the practice bot
• Tested climber with some issues
  • Back encoder is about 5.5 times the scale of the front encoder
  • Added this to the PID and the Adam's code that keeps them moving at the same speed
  • Did not help
  • But we didn't have enough time to test it without the climber broken
  • Lots of discussion in slack about pontential temporary solutions, as of now, we are thinking that we could slow down the speeds and attempt to have them slow down even more as it gets closer to the point (maybe using a PID? or just error correction?)
• When we left, the light sensors were not working correctly, probably due to the other arduino issues with the leds but Adam was going to look into this today at some point
• Packed pneumatic components

• Climber
• Light sensors
• PID
• etc. etc.

GENERAL:

1. Finish packing up code, electrical, and pneumatic stuff that we need to bring to comp
2. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested

ELECTRICAL:

1. 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
2. Finish assumbling second light sensor array+arduino+polycarb holder, test to verify it works
3. Take an hour or so and re-route all of the wires on the practice robot :)

CODE:

1. 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
2. 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
3. PRIORITIES: 
   • 1b. climber stils moving at the same speed
     • Discussed 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.
   • 3. 1 step climber process
   • 4. Drive to vision targets using limelights

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

Of course not...