Note Viewer

- Fix RoboRio

The 5V rail of the RoboRio stopped working altogether and instead was fluctuating around 0.1 - 0.2 V. The rio had to be dissasembled and cleaned with air to get power again.

- How to Train Your Cargo Arm

Tuning it just using a pid controller doesn't work because of how gravity affects the arm when it is horizontal / vertical. Solving this requires calculating a feedforward using motor/gearbox/robot/arm characteristics. Instead, the arm is tuned with a PD controller with a constant offset voltage. When the arm is near the top, a cos function additionally dampens the cargo arm's speed.

- Outtaking Cargo

When putting cargo into the cargo ship, the power needs to be reduced to around 80%. Also, the button to outtake the cargo ball should not be pressed and held. Instead, pulse it. This makes getting a cargo into the cargo ship much much much much much much more consistent.

-V (I'm impersonating Bryn 'cause I didn't see my name)

Adam fixed (his own) wiring on the ethernet switch, it works now and the line-sensing limelight runs through it now. We hope to add a second limelight in the original position, and use it for medium/long-range hatch alignment.

- Software and Hardware

-Update Cargo Setpoints

-Update Cargo speed at setpoints

-Auto Climb

The existing, "retuned", pid may or may not work. (There is no integral term in the pid controller and the acceptable tolerance may be too high).

Instead, an integral only controller may work just fine.

I assume so.