Sprint 4 Coding: Polishing/Fixing Teleop and Developing a few AutoOps

[Anand-nicrypto]

Nov 5th

• Today me and Jadon decided to test out our code only to realize that it doesn't work
• For some reason, the motor for the third part of the four-bar won't extend, so we had to fix it
• I tried to get Ambrose to reconfigure it since he must have messed it up before, so I helped him do that
• While he was doing that, I wrote the code to make it stop (break) if the power was set to zero on the motor
• We spent the rest of the class trying to figure out how to configure everything, but we were unsuccessful

[Anand-nicrypto]

Nov 6th

• Today I did a bit of both, I helped Amrbosse to fix the code so that all parts were working, and fixed the wires and everything
• I also started to brainstorm ideas for the presentation, and decided to start it on Canva, so that we can design it nicely
• I am thinking of using our Nuts Galore logo on front, along with a team picture

[J-Dawgggg]

Monday: Mr Fabroa spent majority of the class giving out important information regarding this Sprint and all the requirements in completing this Sprint properly and being ready for the tournament. Not much was accomplished.

[J-Dawgggg]

Tuesday:

• Discovered that the issue of the "E2" Ultraplanetary motor and the "E3" corehex motor lay with the code an cables. Basically, for the code to operate the "E2" motor, it was set to gamepad1 instead of gamepad2. That was easily debugged and fixed. However, the "E2" and "E3" motors would not power when there was input. To fix this, we tested the code with new cables. The new cables proved to work and were promptly installed while the old ones were put aside.

[J-Dawgggg]

Wednesday:

• The AutoOp mode for when the robot is starting in the right side of the field, closer to the observation zone than the teammate was created.
• For the moment, the AutoOp is capable of parking itself in the Observation Zone during the AutoOp Period to score some points. Further improvements will be necessary to maximize the amount of points that can be scored during the AutoOp Period. May hard code the robot to score a specimen or a high bucket sample and then park itself in the Observation Zone.
• At the end of the day, it was discovered that the current length of the arm cannot reach the Low Rung for Ascents. Need to move the arm further down the gear where it is mounted to reach the rung and score points for a Low Ascent or Level 2 Ascent.

[J-Dawgggg]

Thursday:

• For some reason E3 corehex motor did not work. It seemed to be a cable issue again. I think we kept the same cable that was discovered to be broken on Tuesday instead of swapping it out. Will need to make sure it is swapped out.
• Was testing the drive train movement code and for some reason, the robot would seemingly "lag". Inputs would either be delayed and the robot would be stopped for a brief moment before moving again in the desired direction or the robot would stop briefly even though there was already input being sent to the Control Hub before moving again. This was very weird as it had never happened before. The part of the code that was responsible for getting the joystick x and y values along with setting power to the motors were not changed. The only change made to the code was the addition of some telemetry to gather joystick values along with motor power values. The problem still has not been identified as there has not been enough time to test all the potential issues due to the other stuff needed to finish. Potential problems could be: power/battery problem, controller hardware problem with the inputs, wiring problem, driverhub problem, or a Control Hub problem (unlikely).
• Mateo and I tried to program our claw Servo that is responsible for picking up specimens and placing them on the specimen rungs, but the Servo did not seem to respond to our programming even after following the REV Servo Programming guide carefully. Will need to fix this and program the servo.