chopshop-166 / frc-2024 Goto Github PK
View Code? Open in Web Editor NEWFRC Team 166's source code for the 2024 game, Crescendo
License: MIT License
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frc-2024's Issues
Polar Deadbanding
Instead of deadbanding X and Y coordinates, deadband the magnitude and then convert to X and Y
Arm Rotation
- Manual rotation - Mapped to joystick
- Preset Amp
- Preset Intake
- Preset Shoot
- Stowed - Default state unless intaking
Soft-stops at ground and full rotation
Sensors:
- Absolute Encoder
LEDs
Add LED feedback
- Intake running
- Game piece acquired
- Shooter spinning
- Vision Aligning flash
- At preset angles
- Different stages of auto
- Activate coopertition button
- Activate amp
Drive
- Drive
- Robotic Centric move
- Reset Odometry
- Rotate to Preset angle
- Speed control - Linked to triggers
Rotate to incorrect angle
When running the rotate to target angle command the robot rotates not to the target but to the same spot every time, depending on robot to camera transform
Steps to reproduce
- Deploy code
- Enable the robot
- Reset gyro to be parallel with the tag
- Rotate the robot so it can still see the tag
- Let robot sit for enough time estimators get accurate angles (3-5 seconds)
- Run rotate to speaker command
Expected result
- Robot rotates so the center of the robot is facing the center of the tag
Actual result
- Robot rotates to an unknown angle with the tag still in sight, (without deploying anything or resetting gyro) the robot will always rotate to that angle
Vision
- Camera stream
- Camera calibration
- Camera robot translation?
- Make robot turn directly to AprilTag
- Rotate to target while driving
- Full field localization
- Align shooter with full field localization
- Integrate with auto
Shooter
- Charge Up - get to speed
- Amp eject
- Spin - Down
- Slow Spin
Intake
- Intake - Stop when game piece detected
- Feed into shooter - Run for time? Run until sensor no longer detects
- Eject game-piece - While True
- Stop Intake - Mapped to select
Sensor to detect game piece - Digital Input Beam Break sensor
Shooter
Update shooter sequences to rotate arm and spin up shooter while the button is held, then feed shooter when button is released. Should also rumble the controller(s) when shooter at speed.
Auto
- Shoot preload into speaker
- Leave
- Shoot preload into speaker / Leave
- Pickup 2nd game piece - In Wing (any of them)
- Pickup 2nd game piece - In Wing (any of them) - Score in speaker
- Pickup 3rd game piece on center line
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