Robot Pits self test

[dcowden]

When the robot is in the pits, we want a self-test command that will SAFELY test the robot functions.

This should be done while the robot is on the test stand, and should only be available when the debug controller is plugged in.

The purpose of the test is to allow drive team to verify all the functionality we can. But we have to make sure this is safe too.

Proposed components:

• drive about 1 second in each of the 4 main directions
• intake on/off
• transfer on/off
• shooter on/off
• climber up/down
• pivot up (SLIGHTLY) and then down

[dcowden]

This will be useful from the very moment we have the hardware available to us!

[dcowden]

Suggested Self test strategy:

• detect /require the debug controllers to be plugged in.
• use red button and green button for no and yes during the self test
• use the DriverStation console to communicate with the operator
• the general idea is to ask the operator yes/no questions as you iterate through the test

Test Steps

• intake: on/off
• transfer: on/off
• shooter: on/off
• drive: drive forward
• drive: drive backward
• drive: drive right
• drive: drive left
• navx: read current angle
• vision: for each camera ( 4)
  • prompt user to put apriltag in front of camera
  • determine if target detected ( april tag for 3, a note for the color one) -pivot : up a little then down -climb: arms up a bit then down
• limit switches: ask operator to press each one, verify pressed
  • pivot up/down
  • note detector switch
    • leds: change colors