Validation & Tuning

[gerth2]

I weep for the fact I put this all into one issue, but here it is:

Validate all robot software and tune required params

Must be done post-integration of all steps

Test Pre-Steps

• [x] Verify all motor ports and directions are consistent with software outputs.
• [x] Verify all solenoid ports and directions are consistent with software outputs.
• [x] Verify encoder directions are consistant with software assumptions (invert as needed)
• [x] Tune Autoshift params out of the way
• [x] Tune DT current draw limiter out of the way
• [x] Verify shooter/intake tune values look reasonable
• [x] Ensure all relevant data fields are recorded into the CSV log.

Test Steps

• [x] Basic operation of all controlled surfaces
• [x] Verify motor numbers and directions in test mode

Tune Steps

• [ ] Get intake/launch routine to be consistent
• [x] Tune DT current limiter to be fairly acceptable without limiting driver performance
• [ ] Tune Auto-downshift by running into an obstacle, looking at logged data, and tuning params to match the observed case.

This plan will be updated as time goes on and we add needed features

[imdunne8]

Edited first post to change to a task list format to hopefully make it a little more manageable.

[gerth2]

me like.

• [x] Checkboxes are fun?
• [X] we like checkboxes?

[gerth2]

From the work that happened this weekend, it is anticipated that software will have basic functionality to run on this Saturday. This means drivetrain, shooter, intake, and maybe more. Based on this I have updated the milestone First Software Release to this Friday (the 12th). I propose the following plan: Please have all software committed by that date - we will work Friday night and Saturday to merge code changes and perform reviews.

First Priority Issues to close out:

10

12

13

19

Nice-to-have Issues to close out:

17

21 (with testing infrastructure from #20 )

26

31

Let me know if there's anything to re-prioritize here