Note Viewer

• Was going to work on drivetrain sensors, but found Octa had both sensors removed.  Changed gears to work more on vision
• Malia and I searched shop and found the bag of reflective tape, in an unmarked box of random crap. My favorite place to find things.
• Took our basement high port wood panel and applied reflective tape in proper places.
• Temporarily mounted a limelight on Frisbee, for testing
• Dialed in the limelight settings to solidly identify the new port target
• Showed Malia how Shuffleboard can be used to view NetworkTables values, and how to get/set NT values in robot code.

• Finding stuff, per usual

1. Continue testing vision stuff with Frisbee (until Octa is available again)
   1. Add drivetrain "turn to angle" command to Frisbee code, for testing.
   2. Create DT command to align the robot with the port target, using the limelight's "tx" value from NetworkTables
   3. See if we can get the limelight to tell us distance-to-target for setting shooter range/speed
   4. Until we have a working turret shooter to play with, we can continue working towards making the robot rotate to align to a target using shortest path, but also handle cable bundling we'll have on the turret.  Meaning the turret won't be able to spin > 360 degrees, it will need to rotate the other (long) way sometimes to keep slack on the cables. We haven't written PID code like that before, so something to explore.
2. Get drivetrain sensors working again on Octa, start working towards autonomous stuff
   1. Create a drive command that moves robot straight X feet.  Drive correction can use either gyro or DT sensors, we've done both in the past codebases.

yeah