cshcyberhawks / slippy Goto Github PK

https://www.chiefdelphi.com/t/introducing-megatag2-by-limelight-vision/461243

We should definitely add some status LEDs to our robot. These are the modes Mechanical Advantage has. I think we should probably do something similar

• Disabled: Defaults to team colors or our alliance color when connected to the field. This was replaced with a pride rainbow at Champs.
• Autonomous: Fast waves of team colors.
• Holding Note: Solid green, once the note is fully secure inside the robot (accompanied by controller rumble).
• Climbing/Auto Driving: Rainbow waves.
• End-of-Match Warning: Red and gold flashing, triggered by default at 30 seconds and 15 seconds (plus controller rumble).
• Request Amp: Flashing white, triggered from a button on the driver controller. This ended up being mostly unused.
• Arm/Climber/Backpack Coast: Solid white, triggered with an override switch on the operator console.
• Battery Not Changed: Pulsing red (accompanied with a Driver Station alert), as an extra line of defense against forgetting to swap batteries after a match.
• Low Battery: Solid orange, when disabled and at low voltage. This makes it harder to accidentally leave the robot on and damage a battery.
• E-Stopped: Solid red.

Should make code reuse better, and allow us to do things like moving on to the next note if one of the centerline notes is missing

Mechanical Advantage has a whole alert system that we can integrate to warn us about motor disconnects and other physical issues

We should copy the thing that Orbit (and I think Cheesy) do where they adjust how much they trust their odometry when they detect that their robot is skidding or has collided with another robot

Calling Command Xbox Controller button functions in a loop seems to cause loop overruns (wpilibsuite/allwpilib#5903). We only do this in the auto amp command. We should be able to replace this by either properly setting up the beam break logic so we don't need a spit bind (we should do this if we are going for full auto drive controls) or making the button call a spit command (or function in the auto amp command) from a bind in robot container.

First pass getting auto pathing working. Will need to do more tuning once trunk is fully working.

This should only be done if build needs the robot for a while and there isn't more code to write

Tune the trunk rotation PID to be faster, and possible add additional IK positions (high and out of frame stow) to speed up IK moves and cycles in match

I think we should ideally aim for

• Amp side 5 note
• Source side 4 note
• Wide source side (3-4) note

But we should probably do minimum-viable product autos first

Pathplanner should allow you to do this fairly easily. Might not be worth doing as it looks like it is fairly easy to line up in match

Improve the driver controls. New controls should mostly replace Ryan (sorry buddy) with the automatic state management and should pull heavily from the LED display (real item). Ideally, we want the robot to automatically manage the state of the trunk based on the global zone that it is in and then perform an action at the press of a driver joystick button (action can be chosen by Ryan on the real item).

Tune some better autonomous paths. We need to dial in the vision tuning (#59) before starting on this

Ideally I would like

• Good amp side auto
• Good source side auto
• A decent under stage (something a worlds 2nd pick would be running)

Make the vision better

Might include (if necessary)

• Full Milan Kalman filters

Waiting for build & electrical to put these on, but good encoders should make shooting more consistent

We might want to switch to full onboard PID and feedforward with FOC, but it's probably easier to just use FOC with voltage control