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FRCteam3952 / FRC2023

2022 - 2023 Season Robot Code
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Implement Automatic Object Placement #15

Closed maxchen132 closed 1 year ago

maxchen132 commented 1 year ago

You may have to look up or ask for information about the game field to properly do this one.

You can assume that we can get the robot to any specific apriltag (see game manual for game field). When the robot is at any specific apriltag, we want preset configurations for the robot to place objects on the poles/platforms for scoring. These measurements should be the same for each apriltag because their surrounding grids are identical. There is a setIntendedCoordinates() method that sets the arm to a specific coordinate relative to the center of the robot, measured in inches. Find the coordinates of each pole/platform relative to the center of the robot, assuming it is up against an apriltag, and implement a command to be able to move the arm to each position (using setIntendedCoordinates()). You can store the numerical coordinate values in the Constants.java file.

Comment on this issue if you are working on it, thanks!

maxchen132 commented 1 year ago

https://firstfrc.blob.core.windows.net/frc2023/Manual/2023FRCGameManual.pdf

This is the link to the game manual, it may help with finding measurements. See pg 25 for a visual of the apriltag and its surrounding poles/platforms (which all together is called a grid). Assume that the robot can be positioned directly before the apriltag.

maxchen132 commented 1 year ago

Put in some structure for this to make it easier to code:

PositionConstants class in Constants.java holds the claw positions for each of the the poles and platforms in the grid (see game manual for reference), relative to (0, 0 ,0) at the center of the robot (assumed to be docked in front of the april tag).

AutomaticObjectPlacementCommand.java is a template class which can be used for the implementation for the automatic object placement command.

If there are any questions, feel free to ask.

maxchen132 commented 1 year ago

Drawing of grid with specific measurements

https://firstfrc.blob.core.windows.net/frc2023/FieldAssets/TeamVersions/Drawings/TE-23001-Grid-Dwg.pdf

siIverfish commented 1 year ago

I will help with the constants.

baconman125 commented 1 year ago

workin on it

maxchen132 commented 1 year ago

Closed for now, may return to it later