Develop #85
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Develop #85
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Tune variables for testbot Tested - Robby S
Cameras swapped out with low res cameras that default to lowest resolution. STATUS: Builds. - Robby S
Compiles - Robby S
Tested - Robby S
Tested - Robby S
Tested, buggy - Robby S
Cargo detection is now flaky when extending the cargo mechanism for floor pickup. Determine why and fix. STATUS: Builds. - Justin C
Feature/housekeeping
The cheesecake hatch mechanism replaced the version 1 hatch mechanism. Remove commands related to version 1 hatch mechanism. STATUS: Builds. - Justin C
Hatch controls were wired directly to the subsystem. Add commands and replace subsystem interaction with commands. Remove Grab/Release from Raise/Lower in subsystem. Let the commands coordinate those actions. Try using lambdas to isolate operator controls from commands. STATUS: Builds. - Justin C
We have three isolated subsystems each with one arm. We can afford to simplify names. STATUS: Builds. - Justin C
STATUS: Builds. - Justin C
STATUS: Builds. - Logan H-D, Justin C
Use PID to move hatch arm. Use rotation sensor to delay closing of gripper so hatch is fully seated. STATUS: Builds. - Justin C
Use PID to move hatch arm to mid position. Use PID to hold mid position. STATUS: Builds. - Justin C.
Add three vertical buttons from the operator console. Connect two buttons to Grab and Ready commands. Reuse LowerHatch command for third button. It disables the pid and controls the hatch motor while the button is pressed, which covers all the bases for the third button, no need for an extra command. STATUS: Builds. - Justin C
Feature/hatch pid
STATUS: Builds. - Logan H-D
STATUS: Builds. - Robby S
STATUS: Builds. - Logan H-D, Robby S
1. Should use commands instead of direct subsystem access. 2. Should use m_OI API instead of direct button access. 3. Buttons now used for hatch mechanism. STATUS: Builds. - Robby S
STATUS: Builds. - Robby S
PID moves in opposite direction from new analog sensor. Invert motor and previous speed controls. STATUS: Builds. - Robby S, Justin C
Analog sensor doesn't read in degrees or radians, but rather values between 0 and 5. STATUS: Builds. - Justin C
STATUS: Builds. - Logan H-D
Creeper arm PID began running to floor without input. Position sensor is suspect, but appears to have strong connection at roborio connector. Swap position sensor with passive input in case AIO_1 is bad. STATUS: Builds. Tested on compbot. - Logan H-D
Range of compbot hatch position sensor is reverse that of potentiometer
on testbot. Reverse threshold comparison operator so that the threshold
is exceeded when the hatch position indicates the hatch is higher.
The optimal fix is to adjust the range and offset of the position sensor
to { range: -5, offset: 5 } to map the sensor values to those of the
testbot sensor. But the robot is calibrated, so instead of invalidating
those settings, this commit is applied instead.
STATUS: Builds. Tested on compbot.
- Logan H-D
STATUS: Builds. Tested on compbot. - Logan H-D, Robby S
Hatch bounces out of the open gripper when aligning with a port. Leave the gripper closed at the mid position. STATUS: Builds. - Justin C
Type 0 are the original controls for Tippecanoe competition. Hatch controls don't use the PID. Piston manual controls use 2/3 buttons on right edge of console. Type 1 swaps controls for Kokomo. Hatch controls use 3 buttons on right edge of console with PID holding two positions. Piston manual control shifts to two vertical black buttons. STATUS: Builds. - Justin C
Move piston extend/retract controls to joystick buttons 11/9, respectively. Restore manual hatch controls for two black buttons to manually move hatch up and down without PID. STATUS: Buidls. Tested on compbot. - Robby S
Hold down hatch gripper button to open grip. Release button to close gripper. Used to reseat hatch panel when taking from loading station grabs too low. STATUS: Builds. Tested on compbot. - Robby S
Compbot slams piston into HAB level 3 when rolling forward. Reduce time delay to prevent slam. STATUS: Builds. Tested on compbot. - Robby S
Logan shared a concern that shooting cargo may bounce off the creeper arm. Move the creeper arm back five degrees to avoid that possibility. STATUS: Builds. Tested on compbot. - Robby S
- Add ClimbReady bling state to present cloudy pattern. - Move brilliant rainbow pattern to Climb bling state. - Replace Default state with rainbow forest palette. STATUS: Builds. Tested on compbot. - Robby S
After attaching the air pressure sensor on compbot, the air pressure sensor reads 0-419 instead of 0-110 psi. Instead of messing with conversion factors, just use identity function for conversion formula. Range now reads 0-5 volts. STATUS: Builds. Tested on compbot. - Robby S
STATUS: Builds. Tested on compbot. - Robby S
Display position of flightstick manual control mode for climb and cargo subsystems. Add color indicator whether manual mode is enabled. Green = enabled, red = disabled. Add text indicator for manual mode: None, Cargo, and Creeper (aka Climb). STATUS: Builds. Tested on compbot. - Robby S
Add method HoldRotation to CargoIntake subsystem. STATUS: Builds. Tested on compbot. - Robby S
Add HoldPID method. Invoke in AutonomousInit to set hatch PID setpoint to current position and enable. Otherwise, the hatch mechanism may drop when driving off HAB level 2. STATUS: Builds. - Robby S
The belt fell off the pulley for the analog position sensor. Fix the belt tension and recalibrate the zero point. STATUS: Builds. Tested on compbot. - Robby S
Competition/kokomo
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Incorporate all tested changes since Tippecanoe event.