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FRC2706 / 2019-2706-Robot-Code

The main robot code for the FIRST 2019 challenge: Deep Space
MIT License
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Mechanisms #79

Closed KyleRAnderson closed 5 years ago

KyleRAnderson commented 5 years ago

The robot will have mechanisms! We need code to run those mechanisms, which means new subsystems and new commands for certain actions.

KyleRAnderson commented 5 years ago

@AbhiJ2706 has pretty much already completed all the mechanism code, however it needs testing as well as to get automated tests.

@AbhiJ2706 since you're going to be working with vision more in the next couple of weeks, do you mind if we continue with the work you've done on the mechanisms?

AbhiJ2706 commented 5 years ago

@KyleRAnderson automated tests are pretty much done. You can continue with the work, however, I suspect that vision will be done this Friday (as that is when they are comparing finished java v python) so I will be back with robot code as early as this coming Saturday so I will be able to pick it back up then.

kevlam2706 commented 5 years ago

Please do as much physical testing as you can with the "stub" mechanisms on the mezzanine (top layer) of Plyboy -- Controls put a lot of effort into making those available so we can test items out for real ASAP.

You can use the winch to test out the lift code. There should be an encoder. Verify with controls that this all works. The CAN IDs on Plyboy will end up being the same as the real robot.

You can use the standalone motor to test out the intake motor code. Again, verify that this all works.

You can use the PCM to test out the pneumatics code. You don't have an actual compressor on Plyboy but you can watch the LEDs on the PCM to verify that solenoids would be told to open or close.

We need to define which PCM solenoid IDs correspond to which physical function on our mechanism (intake arm up/down, hatch puncher in/out). Come up with something, and make sure controls agrees to it and wires it accordingly.

On 2/18/19, AbhiJ2706 notifications@github.com wrote:

@KyleRAnderson automated tests are pretty much done. You can continue with the work, however, I suspect that vision will be done this Friday (as that is when they are comparing finished java v python) so I will be back with robot code as early as this coming Saturday so I will be able to pick it back up then.

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KyleRAnderson commented 5 years ago

Intake subsystem is ready for testing on the real robot. Was having problems with the lack of a plunger solenoid on plyboy so waiting for practice bot.

kevlam2706 commented 5 years ago

Plyboy will support pneumatic solenoid testing once we power up the PCM. I think all we need to do is provide power from the PDP (and a breaker).

KyleRAnderson commented 5 years ago

While waiting for plyboy's PCM to be wired (@Ketchperiment was working on it) I'm working on the Lift subsystem fixing up.

KyleRAnderson commented 5 years ago

See Erik's notes for how we've been implementing subsystems: https://docs.google.com/document/d/11xphTAxiSB7RdZs1SadKbBgYSWKwoQCAaZzwyg7_LUk/edit.

KyleRAnderson commented 5 years ago

Mechanisms were tested tonight and the subsystems themselves work nicely. Most commands are good too. Need to work on lift smoothness (PID) and automatic things for operators.