Notes on review of code

[chadr03]

Notes from 3/1/21

Added a new beambreak on ejector subsystem and adjusted some code. Had some wierd intermittent coms loss. I tried to pull off most of the smartdashboard items to see if we were just adding too much congestion seemed to help some, but still had a few issues.

When I did that the autoclimb quit working. I added that stuff back on the driverstaion and thought I committed it, but is not showing on remote. Need to commit code from drive computer thought I did this last night, but last changes made are not showing on remote and climb will not work with code as it is. This is fixed on the current robot and the drive station computer. Have been working in cr_updates branch

Overall

Need to clean out unused commented sections

DriveSubsystem

Should the rightFollower be inverted? The drive seems to be working this just surprises me that this motor is not set up just like the leader.

BallTower

in autoTower Need to add logic to the system to shut down the feed belts unless they are needed (when a ball is detected on the ejector beamBreak) They skip a lot and are wearing fast. New belts might help too.

ColorSensor remove the Rev color sensor I2C stuff

Conveyor set default state to off and run autoconveyor as soon as intake is deployed. Maybe have an option to turn it off with the same button that turns climbmode off (start on manipulator gamepad).

[codytrey]

we can probably take out the the code the pushes the arm PID values to Smart Dashboard and the polls them and checks if they changed.

I've started cleaning up commented out stuff in 2a2ac25

[codytrey]

rightFollower doesn't need to be inverted because it follows rightLeader which is inverted

removed i2c color sensor

will create 2 new issues for modifications needed in BallTower and Coneyor