Implement Drive Subsystem - Githubissues

FRC-Team-2165 / 2022

Official 2165 repository for FRC 2022 - Rapid React

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Implement Drive Subsystem #14

Closed KellenWatt closed 2 years ago

KellenWatt commented 2 years ago

Components

1 Mecanum drive system
- 4 motors (REV Spark Max)
- encoders (included in motors, see Spark Max documentation)
1 Gyro (AHRS from navx (see 3rd party libraries))
Photo cell (Digital Input)

Constructor requirements

Set a deadband value on the drivetrain
Calibrate encoders for wheel distance
Invert right motors
Set distance travelled and gyro angle to zero

Behaviours

Driving
- general, reset gyro on turn
- turn without resetting gyro
- stabilize forward motion with the gyro (ask if you aren't sure how to do this)
Gyro
- get angle, relative to last reset
- reset angle to 0
Distance tracking
- get forward travel distance
- reset distance travelled
- requires calibration for wheel size
Tarmac detection
- check if photo cell sees tape

KellenWatt commented 2 years ago

The requirements have been updated. Hopefully this will provide a little more clarity.