Differences between compbot and babycakes

noahlinton commented 8 months ago

Here are the main differences between the two robots:

Limelights:

[x] Babycakes has qty. 1 limelight V2. Compbot has qty. 2 limelight V3's.
[x] Babycake Camera position: X, Y, Z, Yaw, Roll - branch with required updates ready for testing
[x] Compbot Camera 1 Position:
[x] Compbot Camera 2 position:

Indexer gear ratio:

[x] Babycakes ratio is 7:1. Compbot ratio is 5:1. Speed seems fine on Compbot. We'll let the drive team test it and if they feel the indexer is overshooting we can adjust the speed down. We will keep a single version of the speed for both robots.

[x] Babycakes has a single beam break in the indexer. Compbot has 2 beam breaks. One in the indexer and a second one in the intake. The second one in the intake is used for driver notification only. this can be ignored for now
[x] Track width and wheel base are THE SAME between comp and babycakes
[x] Babycakes will not have Blinkin LED's

Pivot

[x] Travel position should be against the hard stop on compbot, and this is different than on babycakes.
[x] Pivot Encoder Offset might be different.
[x] Different shot linear interpolation points

Ben-Alderson commented 8 months ago

This is where we detect which robot the code is running on. Suggest we add an isBabycakes function here and use it in the Constants file to account for these differences. See here for a usage of isBlackout in Constants.

The RobotController.getComments function pulls from the RoboRIO directly, and can be changed on the RoboRIO web dashboard by navigating to http://roborio-4039-frc.local

noahlinton commented 8 months ago

Thanks Ben! We have updated this function to isBabycakes and have been updating the implementations.

noahlinton commented 8 months ago

We are ready to test that DEV runs on babycakes. Also, we have a separate branch babycakesCameraPosition to test that we can have two different camera positions based on Helpers.isBabycakes()

noahlinton commented 8 months ago

@MacPGamesAndApps are we done with this? I think we are running code on both robots well. There is a bug on babycakes that we need to look into on the odometry, and confirm pivot is working, but I think we can close this issue and create new issues as required.

MacPGamesAndApps commented 8 months ago

@noahlinton, yeah I agree. This one is complete. I'm closing it :)

frc4039 / 2024

Differences between compbot and babycakes #80