2019:Programming: Difference between revisions

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(add networktables keys)
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*Feedback  
*Feedback  
**Bring over "editable" methods/code from last year (Josh)   
**Bring over "editable" methods/code from last year (Josh)   
** Post list of important feedback to show on dashboard (paper list exists - post on this page) (Kate)
** Document net tables variable names, types, values, and meanings that robot will send for each of the feedback items (Kate)
*Main Robot  
*Main Robot  
**Add reset & process calls to all subsystems (Josh)  
**Add reset & process calls to all subsystems (Josh)  
**Add PCM IDs to iomap (Josh)  
** Add Disabled method (that works) (Josh/Kate)
*Game Pieces  
*Game Pieces  
**Refine & finalize interface (Kyle)  
** Work out how to handle the initial value of cargo/hatch mode. How do we know!?!? (Kyle)
**Implement (Kyle) 
** Test!
*Cargo (Kyle)  
*Cargo (Kyle)  
**<s>Remove sensor use and change over entirely to current sensing, including for isCargoBeingHeld()</s>
** Test it!!
**<s>Make intake/outtake speed constants at top of file</s>
**<s>Use iomap names for solenoid IDs</s>
**<s>Don't do current computations when motor is not running (and maybe also not when outtaking)</s>
**<s>When current limit is hit, stop motors (don't wait until next process() call)</s>
**<s>Remove commented out code if not needed</s>
**<s>canIntake is not initialized</s>
**<s>current should not be a class variable, it's only used in process()</s>
**<s>No reset() implementation -- this should set up the same as it did at startup</s>
**<s>Things in debug() need names - can't use "" empty string!</s> 
*Hatch (Kyle)  
*Hatch (Kyle)  
**<s>Change solenoid to use iomap addresses</s>
** Test it!
**<s>isHookUp is never set? Set in constructor and whenever the hook changes position</s>
**<s>Things in debug() need names - can't use "" empty string!</s>
**<s>Add debug/feedback for "is broken"</s>
**<s>constructor: if initial position is DOWN, shouldn't hasOuttaked be true? Also should set solenoid to match</s>
**<s>Fix indentation in process()</s>
**In not broken operation, DOWN should make it stay down until the limit switch is no longer triggered *or* it is told to go UP again
**<s>Implement reset()</s> 
*Electrical (Jeff)  
*Electrical (Jeff)  
**Check Polarities of Cylinder sensors on IO map
**Check polarity of elevator sensors
**Check polarity of Hab overplatform sensors
**Hab Cylinder sensors --- if we are using all 6 of these, order more!  
**Hab Cylinder sensors --- if we are using all 6 of these, order more!  
**Add camera servo to iomap 
*Hab  
*Hab  
**<s>setHabBroken() - explain briefly what this does to operation of other commands</s>  
**<s>setHabBroken() - explain briefly what this does to operation of other commands</s>  
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**<s>So we are driving the back wheels for the "half on" case? THought drive base was doing this?</s>  
**<s>So we are driving the back wheels for the "half on" case? THought drive base was doing this?</s>  
**<s>When not automated and they do drive() followed by retractBack() or other command, nothing stops the drive</s>   
**<s>When not automated and they do drive() followed by retractBack() or other command, nothing stops the drive</s>   
** Test both auto climb
** Test manual one step at a time climb
** Test manual climb with sensors marked broken
*Elevator (Josh)  
*Elevator (Josh)  
**Add way to control pivot  
**Add way to control pivot to interface
**Implement   
**Implement   
*Vision (Ben)  
*Vision (Ben M.)  
**Document a plan for the visual feedback
**Consider net tables variables to start/stop streaming (document them on this page)
**Consider net tables variables to start/stop streaming  
**Document a plan for rio <> Pi communication on this page (net tables variable names, what they do, etc)  
**Document a plan for rio <> Pi communication (net tables variables, etc)  
**Place current system on 2018 robot and view stream on driver laptop '''over wifi''' while driving around, verify you get good quality still.
**Finish camera mount(s)  
**Finish camera mount(s) (Ethan P is doing this)
**Order USB cables etc. 
** Identify and supply decoder library that can be used to display stream inside 1511 dashboard (Jeff)
* Controls
** Finish aux controls: (Ben)
*** Game piece cargo/hab switching
*** Hab buttons & commands
** Drive code (Cameron)
*** Finish
*** Test!
** Broken switches
 


*Old robot fixing:  
*Old robot fixing:  
**Rewrite trash bot (2015) from scratch using 2019 libraries and image. DO NOT IMAGE UNTIL YOU HAVE CODE MOSTLY DONE. (Talk to Jeff before starting, low priority)   
**Rewrite trash bot (2015) from scratch using 2019 libraries and image. DO NOT IMAGE UNTIL YOU HAVE CODE MOSTLY DONE. (Talk to Jeff before starting, low priority)   
</div> </div> </div> </div> </div>  
</div> </div> </div> </div> </div>
 
== Scouting App ==
== Scouting App ==


Revision as of 11:03, 4 February 2019

General programming stuff relevant to all subsystems should be documented here.

Outstanding Tasks

Robot Code

Split up by subsystem - responsible veteran student or mentor in (), student(s) doing actual code, if different, in []. These are not in any particular order!

  • Feedback
    • Bring over "editable" methods/code from last year (Josh)
    • Post list of important feedback to show on dashboard (paper list exists - post on this page) (Kate)
    • Document net tables variable names, types, values, and meanings that robot will send for each of the feedback items (Kate)
  • Main Robot
    • Add reset & process calls to all subsystems (Josh)
    • Add Disabled method (that works) (Josh/Kate)
  • Game Pieces
    • Work out how to handle the initial value of cargo/hatch mode. How do we know!?!? (Kyle)
    • Test!
  • Cargo (Kyle)
    • Test it!!
  • Hatch (Kyle)
    • Test it!
  • Electrical (Jeff)
    • Hab Cylinder sensors --- if we are using all 6 of these, order more!
  • Hab
    • setHabBroken() - explain briefly what this does to operation of other commands
    • Solenoid constructor invocations are wrong
    • Constructor -- initialization order must match the declaration order
    • reset() -- set up as in constructor and stop motor directly
    • xxCrossedLevel() -- Check polarities after fixing wiki with electrical
    • xxCylindersExtended() and retracted() -- check polarities after electrical fixes IO map
    • frontCylindersRetracted() only checks one sensor while others check both?
    • Debug for automated is wrong
    • Debug for frontCross is wrong
    • Debug backRRetract is wrong
    • autoLift() -- can this simply set automated = true and resume at the last step it left off on? Simplifies things as your states only change by one set of criteria and in one place
    • Steps 3 & 4 look wrong
    • if (broken....) in process() needs work -- if auto is getting turned off it should be done when broken is set false, not later
    • process() automated steps should move above action processing so that things like turning off drive are done as soon as they are noticed not the next time around
    • stopAutoLift should probably set driveDriveBase false?
    • So we are driving the back wheels for the "half on" case? THought drive base was doing this?
    • When not automated and they do drive() followed by retractBack() or other command, nothing stops the drive
    • Test both auto climb
    • Test manual one step at a time climb
    • Test manual climb with sensors marked broken
  • Elevator (Josh)
    • Add way to control pivot to interface
    • Implement
  • Vision (Ben M.)
    • Consider net tables variables to start/stop streaming (document them on this page)
    • Document a plan for rio <> Pi communication on this page (net tables variable names, what they do, etc)
    • Place current system on 2018 robot and view stream on driver laptop over wifi while driving around, verify you get good quality still.
    • Finish camera mount(s) (Ethan P is doing this)
    • Identify and supply decoder library that can be used to display stream inside 1511 dashboard (Jeff)
  • Controls
    • Finish aux controls: (Ben)
      • Game piece cargo/hab switching
      • Hab buttons & commands
    • Drive code (Cameron)
      • Finish
      • Test!
    • Broken switches


  • Old robot fixing:
    • Rewrite trash bot (2015) from scratch using 2019 libraries and image. DO NOT IMAGE UNTIL YOU HAVE CODE MOSTLY DONE. (Talk to Jeff before starting, low priority)

Scouting App

In no particular order!

  • Jeff
    • Nothing yet!
  • Alex
    • Nothing yet!

Subsystem Assignments

  • Controls: Insert Mentor person and Student persons here!
  • Insert other subsystem TBD: Insert Mentor person and Student persons here!

Feedback

Match time for driver station/raspi: match_time_remaining

Raspberry Pi connection status: pi_connected

vision-distance to image center: distanceCenter //likely to change

Autonomous

Insert auto stuff here!
 

Camera stream

Pi details: 2019:Vision

  • Camera stream via RTP on port 5800
  • Reciever SDP file:
    v=0
    m=video 5800 RTP/AVP 96
    c=in IP4 (Raspberry Pi IP)
    a=rtpmap:96 H264/90000
  • Sender GStreamer pipeline (command line): gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-raw.framerate=30/1,width=640,height=480 ! omxh264enc ! rtph264pay config-interval=10 pt=96 ! udpsink host=(driver station IP) port=5800 max-bitrate=2700000
  • Reciever GStreamer pipeline (command line): gst-launch-1.0 udpsink port=5800 caps="application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264,payload=(int)96" ! rtpjitterbuffer latency=1 ! rtph264depay ! decodebin ! videoconvert ! autovideosink

 

Programming Archives

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