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• Octa 2020 updates
  • updated libraries on DS2 laptop and on Octa robot
  • drives as expected now
  • drive correction w/gyro works
  • Rotate_To_Angle command works, including rotate PID using gyro. It overshoots, but not due to PID tuning... appears to be due to the gyro being so off-center
  • Drive_Distance command not quite working. Spent some time with the drive_distance PID, but it appears the DT sensors are always returning zero. They do appear to be giving correct values in Shuffleboard when viewed under the automatic telemetry section, so this might be a wpilib vs. robotpy issue?

DT encoders aren't returning expected values

1. Finish updating Octa's drive distance PIDController [Adam]

2. Wire up NavX sensor to Octa or Frisbee, verify we know how to get gyro angles from it.

3. Following recently arrived in shop. Put them in appripriate electrical place, and maybe test them out on a robot, make sure we know how to code them.  Line break sensors, Potentiometers for shooter, servos for shooter

4. Further discuss the placement of the encoder. Currently, we're thinking about integrating it with the motor (under the turret contraption). However, backlash is a possible concern. We should ask Adam, Chris, and other mentors for their opinions. 

5. Continue testing vision stuff

   1. Maybe move limelight from Frisbee to Octa?
   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.

nope nope nope