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Testing VS code (Alpha release)
We need to have a Smart dash layout with some useful stuff on it.
Display all sensors & outputs, etc
Make it look nice, and add the file to the git repo somewhere that makes sense.
Make sure the layout gets on our driver stations too..
[ ] gyro heading
[ ] Encoder position
[ ] Camera
The navx can use power from usb to avoid reboots during brownouts. If we are using it during the match beyond auto, then it is probably a good idea to hook that up.
Probably should just get rid of 'master' and have a branch for each robot configuration... Then it's totally clear to everyone, no need to figure out which code is 'master' supposed to be..
Run the closed loop with in the srx
It might be good to have a 'robot personality' stored as a text file on the RIO with the robot's name so the code can use the proper scale factors and other robot-specific constants.
WPILIB frc::preferences() looks perfect.
Let's add the ability to override sensors in our code by default, even tho we don't have any sensor limits by default. That way, when sensor limits are put in place, there's already a variable ready to be used from day one, and buttons on a controller, allocated for use.
(Perhaps start / back buttons on the Operator controller)
WPI appears to be supporting motion profiles out of the box complete with a guy path generator. https://github.com/wpilibsuite/PathWeaver
Investigate it.
Let's make a class that can be used as a basis for an elevator.
Closed loop Prismatic joint control.
Use SRX integrated closed loop?
Display a usb camera on the dashboard by default.
Should just plug and play...
increase the camera resolution so that we were using 80% of the available bandwidth.
If we add a second camera later, will deal with it at that time. Let's get the most bang for our buck for now.
Use the gyro to keep the robot driving straight until a turn is requested.
https://www.kauailabs.com/support/navx-mxp/kb/faq.php?id=48
Label each navX so we know the firmware version of each.
Apparently there's been significant improvements a shuffleboard for 2019. let's see if we can find a preview available, and if not let's make sure to evaluate it after kickoff.
Might be able to build latest from here:
https://github.com/wpilibsuite/shuffleboard
Add an arm subsystem, essentially the wrist from flipside.
Closed loop revolute Join control.
Probably with an SRX, with integrated closed loop control.
Use the gyro to keep the robot driving straight until a turn is requested.
https://docs.google.com/document/d/1ewdBMf0K92LA7U8adPa6xN8Kl5irISZ7pAmq79NrIWU/edit
the navx has a calibration routine that executes at every boot. There's a function to check if it is in process / done that we should display on the smart dash for diagnostics.
Idea: In the default code, make the second sub systems selectable from a chooser.....
Idea was from Richard. Not sure if it's a good idea or not yet, but I like it....
Use Talon SRX's Motion Magic to implement a motion profiling function.
The initial logging run we did shows that the encoder data from the SRX is coming in only every 400ms, which is crazy slow... need to speed it up, perhaps to 8ms perhaps?
Set up a demo to connect to a camera and just find the centroid of a vision target.
Should be able to display the camera image on the smart dash with some crosshair to show the centroid.
Add some basic logging functions and set up something to log by default.
Perhaps make it log the encoder positions, driver input, and motor command?
Add a subsystem for a flywheel shooter.
PID controlled speed, probably with encoders wired to the SRX, and use closed loop control on the SRX?
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