Generate preliminary URDF & motor/sensor config

[matthew-reynolds]

🚀 Feature Request

Although the design of the robot is not complete, there is enough known about the system to create a rough URDF that should be accurate enough to get us off the ground to start some testing. Waiting on some critical dimensions from the mechanical team to finish up the URDF.

Camera and Zed placement is still unknown, but the actuators and their associated sensors, as well as some limit switches for game piece detection, are all defined enough that they can be worked into the model.

As more details from the mechanical team become available, I will update this issue accordingly to track the data I use to create the URDF.

[matthew-reynolds]

List of actuators and sensors:

Drive train:

• 2 CIM/TalonSRX drivetrain (1 master, 1 slave) (x2)
• 1 drivetrain VEX mag encoder (x2)

Elevator:

• 4 775Pro/TalonSRX elevator (1 master, 3 slave)
• 1 encoder & 1 10-turn pot for elevator

Intake roller:

• 1 BAG or 775Pro/TalonSRX for intake roller (No feedback)
• TODO: something to detect when cargo is in place (lim switch? Beam break?)

Wrist:

• 1 775Pro/TalonSRX for intake wrist
• 1 absolute encoder (VEX mag) for intake wrist

Climb:

• ~1/2 CIM/TalonSRX for level-2-climb-stick?~
• ~1 10-turn pot for level-2-climb-stick?~

Hatch intake:

• 2 pneumatic cylinders for hatch grabber
• 2 pneumatic cylinders for hatch pusher
• 2 lim switches for hatch detection (one L, one R for redundancy)

[wmmc88]

@Matthew-Reynolds any update on this?