2023:Programming
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Resources:
Robot code Github
https://github.com/frc1511/thunderbot2023
1511's Github
Programming Documentation
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 Meeting
- Pseudo code for lift, grabber, and gamepiece mechanism controller functions
- Implemented empty controller functions in code
1/21 Meeting
- 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 Meeting
- Drew out map of driver, aux, and manual aux controller button layouts
- Implemented aux and manual aux controls code
1/26 Meeting
- 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 Meeting
- 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 Meeting
- Started implementing wrist mechanism
- Blocked out Autonomous paths in ThunderAuto
- Worked on making feedback more consistent between mechanisms
1/31 Meeting
- More work on wrist mechanism
2/1 Meeting
- Added drive align to grid command
- Played with controlling PS5 controller adaptive triggers, led colors, and rumble
2/2 Meeting
- 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 Meeting
- 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 Meeting
- Added GamePiece functions for Autonomous control
2/8 Meeting
- 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 Meeting
- Continued working on TCP networking for sending PS5 controller input / output
2/11 Meeting
- 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 Meeting
- 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
