lasallerobots / powerplay Goto Github PK

Talk to Coleman about using Large Format Printer to print something and then probably back the paper with some tape? idk this should be pretty cost effective?

This is also similar to #4 but will be for non turning movements.

Goal: if pushed, knocked, or running into something the robot will correct for the error put on it and continue driving.

We want to be able to use the encoders from the motors to track where we are going to get a distance based driving implementation.

If we're sticking with aluminum, we need to adapt it to Lukas' new quick mounts, and make panel designs to be vinyl cut.
If we're switching to wood, we need to laser cut proper panels with designs.

By pressing a shoulder button should we switch to brake mode?

Documented here: https://javadoc.io/static/org.firstinspires.ftc/RobotCore/8.0.0/com/qualcomm/robotcore/hardware/DcMotor.ZeroPowerBehavior.html

This will open up our options for autonomous building and testing

This value should be different from 1, 2, or 3 this would allow for a different maneuver if the robot can not detect the AprilTag in the frame.

Math logarithm function Math.log()

I know @pdxaeroman will have some things to say about this.
Ultimate Goal:

• Add the ability for the robot to do many different things at the same time
• Improve the ability for the drivers to have subsystems work correctly together
• allow for the robot to do separate aiding of the system
• different state modes for drivers?

Finish.

• Move camera so that we can tell cones more easily
• Be able to detect cones reliably
• Tell the distance of the cones based on the size in frame
• calculate how to get to the cone based on its location in frame

The claw was designed before we even really knew what our robot would look like. We should print some new fingers that better utilize the servos

When both of the robot's bumper sensors contact a wall, have the claw close and lift very quickly. We will use this feature to pick up from cone stacks by simply slamming into the wall.

From cozzoli:

Use buttons to tell if hitting wall. Then auto close claw and raise arm and back up

It is becoming clear that the math our robot uses to move is not exactly how we want it.

I recommend that in the time between now and when we have the official foam floor, coders should try this.

install a physical bumper on the robot that positions cones in the robot's optimal grip area instead of letting them fall too deep into the claw. May prove necessary when paired with #23

Demo>purchase>create

Lets start transitioning our code from java to kotlin as we get functions as a first class option which unlocks many new abilities.

I will bring some in

We need a simple way to check if buttons are actually being pressed.

Sample API I tested:

val d = Debouncer();
d.ifPressed(gamepad1.circle) {
      // things here if the button is pressed
}

or if you prefer explicit if statements

if (d.isPressed(gamepad1.circle)) {
    // things here if the button is pressed
}

May be a stepping stone for #4 , #6 , #11

Keep tension cables in line for extension and retraction

Problems with uneven current draw

The robot inefficiently uses space. It can be shrunk without a detriment to performance.

So like this?

Like a checklist but for our team

Not really sure where we were going with this

Like a checklist but for our team

This would incorporate vision centering and gyroscope assistance to be much more situationally-based and improvisational rather than list/step-based like the current one, using the vision and gyro to adaptively locate cones and poles and score with them. This might be a bit optimistic, but I think using these tools we could get it to score all the poles necessary for a circuit before autonomous even ends

We have a rumble motors in the ps4 controller. We should use them.

Some Ideas:

• Cone grabbed by robot
• Robot aligned with the pole
• 5 seconds till endgame
• 5 seconds until endgame ends so we should maybe park?

Proposed change: change the zero power mode of the lift. Current options are float and brake. By setting the lift power to 0 when the lift is at the bottom we can reduce the coil whine and energy use.

Note: the behavior should change once the lift is at any height above zero with some space for r (error) so enable braking while the lift is up and power is on