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Team2168 / 2015_Main_Robot

Source code for the 2015 season
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Create code for operating the RC fingers #105

Closed jcorcoran closed 8 years ago

jcorcoran commented 8 years ago

There's a video on the 2015 FB group posted by Cam on 8/21/15 that outlines how these are to be used on the bot.

We need to create a subsystem to control these pneumatic devices. Use a free Relay channel to control them. Assume their default state is open/disengaged when the relay is off. The code should be similar in structure to what's in the class for the can gripper subsystem (same style plumbing used).

We need commands that allow these to be opened/closed independent of other operations (not sure if there are enough free buttons to put these on a stick). If the operator doesn't have enough free buttons, put them on the driver's stick.

Modify the existing lift/gripper commands so that the fingers don't get broken when the gripper raises/lowers over a tote.

Create a command group which can automate the bin righting sequence.

NotInControl commented 8 years ago

@Benmw99 , just to give you a little more clarity on what to do based on our inspection of the Robot yesterday.

You were going down the right path with creating a new class so continue to do that. Our tests yesterday using ARCB was just to ensure that the relay and pneumatics were working (which they are). ARCB was a class for the wings to grab all bins which we no longer use. But at this point, I don't want to delete the classes for ARCB just yet, we will just ignore them.

So based on what James said above here is what to do:

  1. In Robot Map create a new Relay channel for the RC Fingers and assign it the next value (I believe 2 is the next avail)
  2. Create a new RC Finger subsystem with methods to extend and retract the rc fingers (This class should have a very similar body to that of the Can Gripper class)
  3. Create 2 new commands for the RC Finger to extend and retract (these commands should be very similar to the Can Grabber Commands
  4. In OI, assign the two commands you created to the Dpad up and Dpad down button on the operator joystick

Commit your code, and push to the new branch. When you are ready do a pull request, and I will review it.

Thanks!

wshclth commented 8 years ago

@Benmw99 if you have any questions or need help you can always contact me and i can help you out.

NotInControl commented 8 years ago

closed by cd6000f611f55f2dcab95b46afda31b2c25a7fcb