Drive Subsystem

[jeffaburke]

Drive

What is the primary purpose? The primary purpose of this subsystem is to let the robot effectively get from one location to another on wheels a.k.a. driving!

What operations does it need to do?

• Drive forward
• Drive any direction

What does the subsystem need to know?

• Direction
  • In terms of the field position
• Magnitude of Speed
• Rotation of the swerve wheel

What actuators are on the subsystem?

• 8 Neo's in total, 2 Neo's per each swerve module

What sensors are on the subsystem?

• Pigeon Gyro
• 4 Magnetic Encoders
• 8 Spark Max Motor Controllers

How can the subsystem fail? This subsystem could fail by not moving the right direction in terms of the field. The swerve drive could not move at all. Maybe some integral windup with tuning P.I.D.'s.

How can we mitigate failure? Tuning our P.I.D.'s correctly, using our gyro properly, being good, using the encoders to make sure the swerve modules are moving properly are turning correctly.

What can be automated? An autonomous period, taxing out of the terminal, maybe some machine learning go to the nearest ball (lofty goal but hey who knows...)

[jeffaburke]

• [x] Tune Swerve PID
• [ ] Look into using Spark Max onboard PID or steering
• [ ] Implement Trajectory Following

[bot190]

• [x] Use swerve Odometery to implement driveDistanceY and potentially a more generic version.
• [ ] Provide a way to adjust the maximum drive speed from the dashboard up to the limit specified in the map