2023:Programming

Resources:

Robot code Github

https://github.com/frc1511/thunderbot2023

1511's Github

https://github.com/frc1511

Programming Documentation

https://frc1511.github.io/

Old Robot Code

http://www.svn.penfieldrobotics.com/

Plans for Student Assignments

Lift: Calla / Mustafa / Yaqoub

Grabber: Calla / Charlie

Controls: Will!!!

Auto: Peter

Vision: Peter

Dashboard: Peter

1/19

• Pseudo code for lift, grabber, and gamepiece mechanism controller functions
• Implemented empty controller functions in code

1/21

• More pseudo code for lift, grabber, and gamepiece mechanisms
• Implemented functions for lift, grabber, and gamepiece mechanisms
• Started mapping out controls with the drive team

1/24

• Drew out map of driver, aux, and manual aux controller button layouts
• Implemented aux and manual aux controls code

1/26

• Implemented pivot and extension motor configuration functions for lift and grabber mechanisms
• Added travel preset to lift
• After game piece acquisition, set the lift to travel preset

1/28

• Added feedback for drive, lift, grabber, and game piece mechanisms
• Added encoders for the lift mechanism
• Worked on Autonomous configuration page in Dashboard

1/29

• Started implementing wrist mechanism
• Blocked out Autonomous paths in ThunderAuto
• Worked on making feedback more consistent between mechanisms

1/31

• More work on wrist mechanism

2/1

• Added drive align to grid command
• Played with controlling PS5 controller adaptive triggers, led colors, and rumble

2/2

• Added basic support to Dashboard to control PS5 controller features (rumble, led colors, adaptive triggers) over Network Tables

2/3

• Added pivot-only control option for lift
• Fixed GamePiece logic problems
• Clamped lift position

2/4

• Tested code on Test Board!
• Added TalonSRX motor controller API wrappers for testing
• Fixed wrist logic in combination with lift to prevent it from hitting the ground

2/7

• Added GamePiece functions for Autonomous control

2/8

• Decided to start working on sending PS5 controller input from Dashboard instead of Driver Station to prevent possible issues with two programs talking to them at the same time
• Decided to send PS5 controller input using TCP sockets instead of Network Tables to increase speed and reduce failure points

2/9

• Continued working on TCP networking for sending PS5 controller input / output

2/11

• Got TCP networking working for sending PS5 controller input to robot from Dashboard and output to Dashboard from robot
• Tested Bluetooth control - don't worry Jeff, its just for testing and demos

2/12

• Updated PS5 controller networking to use only one port for both controllers instead of one for the driver and one for aux
• Started re-implementing RollingRaspberry communication to use TCP sockets instead of Network Tables

2/13

• Finished re-implementing RollingRaspberry networking
• Worked on resolving pose ambiguities and pose validation from vision results

2/14

• Deliberated over physics problems
• Ramped extension speed of lift

2/15

• Fixed PS5 controller Joystick problems
• Re-wrote ADIS16470 IMU driver to access all three gyro angles, velocities, and accelerations
• Created WhooshWhoosh class

2/16

• Got the robot driving!

2/17

• Fixed a few drive issues

• Implemented WhooshWhoosh class for auto-balancing on the Charge Station

2/18

• Added UltraBrickMode class for 'Parking Brake' robot mechanism
• Tested Pneumatics on robot, got compressor working
• Added serial communication code to Dashboard for communicating with Arduino on operator controls
  • Sending the alliance color and remaining match time to control the LEDs
  • Also added 'Service' base class and re-structured parts of the Dashboard

2/19

• Added Controller Reference page to dashboard
• Added Grabber page to dashboard
  • Presents the current GamePiece or the type of GamePiece that the robot is preparing to acquire

2/20

• Updated Dashboard robot position page to 2023 field
• Started working on Lift Dashboard page

2/21

• Finished Lift Dashboard page
• Finished electrical, started testing Grabber and Lift code on real robot!

2/22

• More testing with the robot
• Removed intake sensor, implemented detection by checking motor current

2/23

• More work on making the lift behave properly
• Started created scoring presets on field
• Switched lift extension and pivoting to ProfiledPIDController

2/24

• Finished initial lift presets
• Prevented lift collisions by keeping lift retracted when pivoting
• Initial auto testing

2/25

• Finished making auto modes to score preloaded cone and cube
• Added LEDs to the robot, wrote simple code to control them

2/26

• Rally!!
• Fixed control issues as they arose during testing on field
• Moved UltraBrickMode toggle to driver controller instead of switch panel

2/27

• Automated lift movement after GamePiece acquisition and scoring
  • Automatically moves down after scoring
  • Automatically pivots up after acquisition

Programming Archives

• 2022:Programming
• 2020:Programming
• 2019:Programming
• 2018:Programming
• 2017:Programming
• 2016:Programming
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• 2009:Programming