Power cell requirements

[mmarchetti]

Determine what components (sensors, motors and motor controllers) will be used in the power cell system. Understand control requirements for how the system is intended to work (what's under driver control, what need to be automated with sensors, which components can be run in reverse, etc.). Also document parameters that need to be tunable (velocities/motor power settings), current limiting, etc.

[mmarchetti]

See the subsystem checklist: https://docs.google.com/document/d/1_9-tRUZjwWC1PxcknZZDOd3UnjmmuaGROC1jAs6ZN1U/edit

[mmarchetti]

Notes from discussion with Eric and Tanner:

• Intake: 1 Bag motor or 775 motor (SR) (Spark)
  • Driver-controllable on/off/reverse. On at start of teleop.
  • Target velocity settable via dashboard so we can experiment.
• Storage: 2x mini CIM (Talon SRX)
  • Driver-controllable on/off/reverse. On at start of teleop.
  • Always moves the same direction as the intake.
  • Question, can you stop the intake without stopping storage? So you can move to the target area without accidentally controlling too many power cells.
  • Target velocity settable via dashboard so we can experiment (probably slower than intake).
• Release mechanism: TBD (probably 1 motor?)
  • This would be the pair of wheels that acts as a stop, preventing power cells from entering the shooter until we are ready for them (recall that the storage system will continuously drive the power cells upward).
  • Normally stopped w/brake mode.
  • Actuates when shooting is requested (copilot control).
  • Actuates for a set time (or rotation?) to get a consistent feed to the shooter.
• Shooting: 1 NEO brushless (SPARK MAX)
  • Controlled velocity/RPM. Settable via dashboard for experimentation.
  • Know when we are close enough to target RPM for shooting.
  • Prevent shooting if velocity is too far off setpoint.

[mmarchetti]

We still need to discuss current limiting.

[mmarchetti]

Shooter motor is now going to be a Falcon.