2017:Programming

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

Outstanding Tasks

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

• IO Map
  • Add entry for new indexer motor
• Robot main
  • Autonomous selection will be overwritten in auto reset() call. Move Reset() calls BEFORE auto selection. (Austin)
  • Controls process() call in disabled should pass DISABLED not TELEOP (Austin)
• Autonomoose
  • Send auto choices and descriptions. Follow pattern of last year's AutoDashboardSend() function. Call this in Disabled() in thunderbot.
  • DOCUMENT on wiki in VERY CLEAR AND PRECISE words, the starting location for each one (can edit/add to the strategy-provided google sheet)
• Feedback
  • Nothing right now
• Controls
  • Fix broken switch processing - call these universally (don't check "process()" - just send the state of the button). Still keep all this disabled for now until real controls are ready
  • Move rumble setup from main joystick function into aux function
  • Add back in control for preheat. This should just tell the shooter to shoot. (so, if (buttonShoot || buttonPreheat) shooter->start_shoot(); else end_shoot() -- have to then handle enqueue separately for SHOOTING ONLY, not for preheat.
  • Fix climber control. It was always going true/on. Currently forced to false because of this.
• Intake
  • Nothing right now
• Shooter
  • Process() -- Sensor detection needs fixing, see commented out "broken = false". Can't just set broken absolutely. Must combine this with "Set_Broken" value to determine actual broken state.
  • Need SetControlMode when we switch from broken back to not broken (similar to working to broken setup). Again, be sure to call Set(something) immediately since units will change!
  • Remove preheat function declarations in .h to avoid confusion.
• Gear
  • Remove printf's. Use Debug() and dashboard sends instead
  • Remove redundant and never-running code in Is_Spike_Engaged()
• Drive
  • Debug() -- send dashboard key "thunderdashboard_gyro". Numeric. Set to 1 until gyro is calibrated. Set to 0 after.
  • Change to constructing Spark's not Jaguar's
• Climbing
  • Nothing right now
• Bucket
  • Add new motor controller (talon) for "indexer".
  • Add functions to control it - needs to take an into shooter, away from shooter, and stop argument.
  • Document in wiki - use CAN ID 13 -- Positive values (voltage) cause spin TOWARDS/into shooter, negative out.
  • Modify controls to call as needed - spin into shooter only when shooting (not preheat). Spin away from shooter whenever intaking balls.
  • Use fixed speeds for both, but allow to adjust via dashboard (ask kate how to do this)

Coders:

Intake                       Austin
Shooter                     K8
Bucket                      new
Gear                        Chase
Drive base                ???
Autonomoose            K8 n/or Andrew n/or Austin
climbing                    Calvin
Feedback system      Ethan/Zach
Controls                    Josh

Autonomous

Measurements for crossing the baseline: 95 inches

Programming Sub-pages and Links

• Documentation
  • WPILib_Screensteps
  • WPILib documentation
• SVN
  • SVN Setup
  • Online browsing of our SVN Tree
• Jaguar Firmware Notes
• 2017:Robot IO Map

Programming Archives

• 2016:Programming
• 2015:Programming
• 2014:Programming
• 2013:Programming
• 2012:Programming
• 2011:Programming
• 2010:Programming
• 2009:Programming