We were thinking about using the Limelight and an encoder for the turret.
- The encoder would keep track of the change in degrees of the turret (kinda like theta in polar coordinates)
- For the shooter, I was thinking about having setpoints of certain speeds at certain places on the field.
- Ex. closer to goal --> wheel can spin slower vs. farther away --> wheel has to spin faster
- Would be in the code (rather than sensors)
- We have enough encoders; don't need to order any
V and David worked with the Rev color sensor:
- Plugged the color sensor into Saba-Z
- After playing around, we were able to get the color sensor to correctly identify the blue, red, green, and yellow strips on the color wheel in the shop. The actual readings of each color isn't super accurate (ex. it reads more green than blue when shown the blue stripe), but we set each reading with it's corresponding color.
- We wrote this in Robot-2019 code using Driverstation 1 (new one)