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Team1100 / FRCDeepSpace

This is the code for the FRC Deep Space game, written by Team 1100
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The Awesome To-Do List of Awesome Things To-Do! #37

Open Pentation opened 5 years ago

Pentation commented 5 years ago
  1. Fix Wiring & Current Control such that we don't lose comms in matches Swap RoboRIOs
  2. Faster Gantry (In With-holding Allowance)
  3. Test Motion Magic on Drive-train
  4. Test Autos & Tune PID
  5. Fix Vision
Pentation commented 5 years ago

Shrewsbury-Vision

snowpuppy commented 5 years ago

Sorry I couldn't attend the meeting tonight. Some additional information requested:

For number 1, is the robot consuming too much current on the robot such that it causes a brown out? For number 2, what is "with holding allowance"? Also, which command(s) need to run faster? For number 3, what is motion magic? For number 4, which auto commands and PID commands are we targeting first for testing? For number 5, what is the current issue with vision that we're trying to solve? Is this a gantry vision issue?

tm1287 commented 5 years ago

1 - Due to the excessive power drain that occurs when playing defense or rapidly switching directions when driving, the robot draws upwards of 200 amps, causing the battery voltage to drop below 6.3 Volts. This in turn causes brownouts that could possibly be a cause of certain disconnects that occurred on the field. Implementing current limiting will both allow us to operate the drive motors at peak efficiency while also preventing excessive battery drain.

2 - The withholding allowance is a supplement to the standard bag and tag rules that allows a team to withhold up to 30 lbs. of manufactured parts outside of the standard bag. The team can work on these to their hearts content even outside of the 6 hours of out of bag time. No commands need to run faster, it is the actual Gantry that needs to run faster which is being achieved using a faster pulley system.

3 - Motion Magic is a control mode for Talon SRX that provides the benefits of Motion Profiling without needing to generate profile data. You use the MotionMagic control parameter when setting the Talon Control Mode and driving a Talon SRX.

4 - We plan on testing the pathweaver generated autos and tuning the PID values for the ChangeHeading command.

5 - The current issue with vision is that it needs to modified in order to work efficiently with a faster gantry. This will get more specific once some more testing is performed with the faster gantry.

snowpuppy commented 5 years ago

Thank you. That clarifies my questions.