2011:Autonomous ToDo: Difference between revisions

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=== '''Code Changes'''<br> ===
=== '''Code Changes'''<br> ===


{| border="1" cellspacing="1" cellpadding="1" width="750"
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
|-
| '''Description'''  
| '''Description'''
| '''Where'''  
| '''Where'''
| '''Status'''
| '''Status'''
| '''Tested'''
|-
|-
| fix turn angle for left fork  
| fix turn angle for left fork
| auto code  
| coded
| auto code
| DONE
| no
|-
|-
| do arm pre-match while doing initial drive instead of going to middle peg height  
| do arm pre-match while doing initial drive instead of going to middle peg height
| auto code  
|  
| auto code
| DONE
| no
|-
|-
| remove extra ending actions from playbook (remove 5, 6, 7 and 8)
| remove extra ending actions from playbook (remove 5, 6, 7 and 8)
| driver station  
|  
| driver station
| coded, not checked in yet
| no
|-
|-
| maybe remove extra starting positions from playbook (remove 2, 7, and 8; remove "left side" text)
| maybe remove extra starting positions from playbook (remove 2, 7, and 8; remove "left side" text)
| driver station  
| driver station
| coded, not checked in yet
| no
|-
| print playbook
|  
|  
| DONE
| n/a
|-
|-
| print playbook
| Check received auto mode against broken switches at auto start
|  
|  
| ThunderBot autonomous()
| DONE
| no
|-
|-
| Check received auto mode against broken switches at auto start
| Check received auto mode for unimplemented/out of range modes
| ThunderBot autonomous()  
|  
| ThunderBot autonomous()
| DONE
| no
|-
|-
| Check received auto mode for unimplemented/out of range modes
| add a "straight-up" arm position
| ThunderBot autonomous()
|  
| auto and arm
| DONE
| no
|}
|}


<br>
<br>


<br>
<br>


=== '''Testing Progress'''<br> ===
=== '''Testing Progress'''<br> ===


{| border="1" cellspacing="1" cellpadding="1" width="750"
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
|-
| width="150" | '''Code'''  
| width="150" | '''Code'''
| width="300" colspan="2" | '''Description'''  
| width="150" | '''Initial'''  
| width="300" colspan="2" | '''Description'''
| width="150" | '''Initial'''
| width="150" | '''Final'''
| width="150" | '''Final'''
|-
|-
| 000  
| 000
| Do Nothing  
| Do Nothing  
| Do Nothing
| DONE  
|
| Do Nothing
|-
| 110
| DONE
| Line (left), top peg
| stop
| DONE
|  
|  
|-
|-
| 120
| 110
| Line (left), mid peg  
| stop  
| Line (left/right), top peg
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 130
| 120
| Line (left), low peg  
| stop  
| Line (left/right), mid peg
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 210&nbsp;?
| 130
| Line (right), top peg  
| stop  
| Line (left/right), low peg
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 220&nbsp;?
| 310
| Line (right), mid peg  
| stop  
| Fork (left), top peg
| DONE
| stop
|  
|  
|-
| 230&nbsp;?
| Line (right), low peg
| stop
| DONE
|  
|  
|-
|-
| 310
| 320
| Fork (left), top peg  
| stop  
| Fork (left), mid peg
| stop
|  
|  
|  
|  
|-
|-
| 320
| 330
| Fork (left), mid peg  
| stop  
| Fork (left), low peg
| stop
|  
|  
|  
|  
|-
|-
| 330
| 410
| Fork (left), low peg  
| stop  
| Fork (right), top peg
|  
| stop
| DONE
|  
|  
|-
|-
| 410
| 420
| Fork (right), top peg  
| stop  
| Fork (right), mid peg
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 420
| 430
| Fork (right), mid peg  
| stop  
| Fork (right), low peg
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 430
| 510
| Fork (right), low peg  
| stop  
| Dead reck (left/right), top peg normal
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 510
| 520
| Dead reck (left), top peg normal  
| stop  
| Dead reck (left/right), mid peg normal
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 520
| 530
| Dead reck (left), mid peg normal  
| stop  
| Dead reck (left/right), low peg normal
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 530
| 610
| Dead reck (left), low peg normal
| stop  
| Dead reck (left/right), top peg offset
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 610
| 620
| Dead reck (left), top peg offset
| stop  
| Dead reck (left/right), mid peg offest
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 620
| 630
| Dead reck (left), mid peg offest
| stop  
| Dead reck (left/right), low peg offset
| DONE  
| stop
| DONE
|  
|  
|-
|-
| 630
| 111
| Dead reck (left), low peg offset
| stop
| Line, top peg
| DONE
|
| raise arm, no drive, no turn
|-
| 710&nbsp;?
| Dead reck (right), top peg normal
| stop
|  
|  
|  
|  
|-
|-
| 720&nbsp;?
| 112
| Dead reck (right), mid peg normal
| stop
| Line, top peg
| raise arm, no drive, turn 180
|  
|  
|  
|  
|-
|-
| 730&nbsp;?
| 113
| Dead reck (right), low peg normal
| stop
| Line, top peg
| raise arm, midfield, no turn
|  
|  
|  
|  
|-
|-
| 810&nbsp;?
| 114
| Dead reck (right), top peg offset
| stop
| Line, top peg
| raise arm, midfield, turn 180
|  
|  
|  
|  
|-
|-
| 820&nbsp;?
| 311
| Dead reck (right), mid peg offest
| stop
| Fork (left), top peg
| raise arm, no drive, no turn
|  
|  
|  
|  
|-
|-
| 830&nbsp;?
| 312
| Dead reck (right), low peg offset
| stop
| Fork (left), top peg
| raise arm, no drive, turn 180
|  
|  
|  
|  
|-
|-
| 111
| 313
| Line, top peg  
| raise arm, no drive, no turn  
| Fork (left), top peg
| raise arm, midfield, no turn
|  
|  
|  
|  
|-
|-
| 112
| 314
| Line, top peg  
| raise arm, no drive, turn 180  
| Fork (left), top peg
| raise arm, midfield, turn 180
|  
|  
|  
|  
|-
|-
| 113
| xxx
| Line, top peg
| raise arm, midfield, no turn
| encoder broken switch
|  
|  
|
|-
| 114
| Line, top peg
| raise arm, midfield, turn 180
|  
|  
|  
|  
|-
|-
| 311
| xxx
| Fork (left), top peg
| raise arm, no drive, no turn
| delay
|
|  
|  
|-
| 312
| Fork (left), top peg
| raise arm, no drive, turn 180
|
|
|-
| 313
| Fork (left), top peg
| raise arm, midfield, no turn
|
|
|-
| 314
| Fork (left), top peg
| raise arm, midfield, turn 180
|  
|  
|  
|  
|}
|}
*Low/Mid: Eject + lower
*high: lower+eject, continue ejecting and backup
*add 12 peg presets for tube straight out + for lowering the arm
*move arm to desired preset on first drive
*remove twist manip from twist state
*add lower arm to ejection state
*move eject to reverse state
*adjust fork drive onto peg distance
**FORK_*_PEG_DRIVE
**STRAIGHT_*_PEG_DRIVE
**DEAD_*_PEG_DRIVE
high drive -= 6
low/mid drive -= 20

Latest revision as of 11:03, 6 January 2012

Code Changes

Description Where Status Tested
fix turn angle for left fork auto code DONE no
do arm pre-match while doing initial drive instead of going to middle peg height auto code DONE no
remove extra ending actions from playbook (remove 5, 6, 7 and 8) driver station coded, not checked in yet no
maybe remove extra starting positions from playbook (remove 2, 7, and 8; remove "left side" text) driver station coded, not checked in yet no
print playbook DONE n/a
Check received auto mode against broken switches at auto start ThunderBot autonomous() DONE no
Check received auto mode for unimplemented/out of range modes ThunderBot autonomous() DONE no
add a "straight-up" arm position auto and arm DONE no





Testing Progress

Code Description Initial Final
000 Do Nothing Do Nothing DONE
110 Line (left/right), top peg stop DONE
120 Line (left/right), mid peg stop DONE
130 Line (left/right), low peg stop DONE
310 Fork (left), top peg stop
320 Fork (left), mid peg stop
330 Fork (left), low peg stop
410 Fork (right), top peg stop DONE
420 Fork (right), mid peg stop DONE
430 Fork (right), low peg stop DONE
510 Dead reck (left/right), top peg normal stop DONE
520 Dead reck (left/right), mid peg normal stop DONE
530 Dead reck (left/right), low peg normal stop DONE
610 Dead reck (left/right), top peg offset stop DONE
620 Dead reck (left/right), mid peg offest stop DONE
630 Dead reck (left/right), low peg offset stop DONE
111 Line, top peg raise arm, no drive, no turn
112 Line, top peg raise arm, no drive, turn 180
113 Line, top peg raise arm, midfield, no turn
114 Line, top peg raise arm, midfield, turn 180
311 Fork (left), top peg raise arm, no drive, no turn
312 Fork (left), top peg raise arm, no drive, turn 180
313 Fork (left), top peg raise arm, midfield, no turn
314 Fork (left), top peg raise arm, midfield, turn 180
xxx encoder broken switch
xxx delay


  • Low/Mid: Eject + lower
  • high: lower+eject, continue ejecting and backup
  • add 12 peg presets for tube straight out + for lowering the arm
  • move arm to desired preset on first drive
  • remove twist manip from twist state
  • add lower arm to ejection state
  • move eject to reverse state
  • adjust fork drive onto peg distance
    • FORK_*_PEG_DRIVE
    • STRAIGHT_*_PEG_DRIVE
    • DEAD_*_PEG_DRIVE

high drive -= 6 low/mid drive -= 20

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