SUBSYSTEM - Drivebase

[sammcdo]

DrivebaseS

Dependencies

• WPILIB
• CTRE Phoenix API
• NAVX FRC Lib

Description

• The drivebase subsystem based on the specified inputs navigates the robot around the game field

Inputs

• 2 x grayhill encoders
• Driver Controllers
• Voltage/Current Draw
• Vision Feedback
• Navx

Outputs

• 4 CIM Motors
  • 2 Talons, 2 Victors
• Vision Control
• Autonomous
• PID
  • Path Following
  • Velocity PID
  • Rotational PID

Actions

• Teleop Driver drive
• Autonomous Pathfollowing
• Vision Alignment
• Spyder Stop!

Constraints

• West Coast Drivebase
• 4 motors
  • 2 motors/side
• 2 Talons and 2 Victors
  • 1 on each side
  • Talon Master, Victor Following
• Using encoders
  • 1 on each side
  • 256 counts/rotation
  • geared separate (2.3:1)
• No Hard Fast Controller Mappings
• NavX
• support PID methods
• Limelight
• Manual Control has Deadzone
• Vision control no Deadzone
• Auto control No Deadzone

Design (Algorithm)

Variables

• Create Motors - Private:
  • TalonRight, TalonLeft, VictorRight, VictorLeft
  • Motor Dependencies
  • TalonRight is Inverted (maybe)
  • VictorLeft follows TalonLeft
  • VictorRight follows TalonRight
  • all are using voltage compensation for 12V
• create WPI Differential Drive - Private:
  • Left: TalonLeft
  • Right: TalonRight
• create Navx - Private
• WPI odometry - Private
• Differential Drive Kinematics (constants)
• P,I,D (constants) (In constants class or in Preferences)
• F constant, kS, kV, kA (constants)
• ramsete algorithm b (Algorithm Convergence gain) and zeta (Algorithm Dampening Gain) (constants)
• has been initalized - Private

Methods

• Periodic - Public
  • update odometry - Public
• Differential Drive Method - Public
  • include paramater for dead zone
• Voltage Drive - Public
• Check encoder rate - Public
• get encoder position - Public
• get turn rate in deg per sec (from navx) - Public
• get heading (current angle) *may be offset from starting location. - Public
• initialization - Public
  • zero heading - Public
  • reset odometry - Public
  • Set max output - Private
• isInitalized - Public
• get pose - Public
  • Returns X and Y and heading
• get wheel speeds - Public

For Research

• do we need Differential Drive with kinematics or use standard WPI Differential Drivebase (both, they are two different things)
• does PDP need instaniated (to do what?)
• low power mode
• Voltage Compensation
• figure out path following
• is NavX heading calculated by offset from start?

[ghost]

Trajectory Tutorial

[ghost]

I have a local change with the Trajectory Tuturial and brings the current drivebase code from base here, I have a few issues, and am having trouble git pushing

[sammcdo]

Sounds great! I can't wait to see it Thursday. I've been playing with their demo as well. However since we haven't finalized our design, we are not ready to start coding anything quite yet. Sometime on Friday or Saturday we will transfer the base code over and start development and auto stuff. I have no idea why your having trouble pushing though. I don't think its a permission issue but we can check that this weekend as well.

[ghost]

I push My code, and it throws error:

fatal: The current branch ari/3/drivebase has no upstream branch.
To push the current branch and set the remote as upstream, use

git push --set-upstream origin ari/3/drivebase

so I use whats recommended;

remote: Repository not found.
fatal: repository 'https://github.com/frc6995/Robot-2020.git/' not found

must be a permission issue.

[EliSauder]

@AriShashivkopanazak Currently no one has write access in the actual repo. I want to see the designs completed or at least mostly completed before the code is written.

[ghost]

ok, cool then, glad I know what this error is lol