cshcyberhawks / slippy Goto Github PK
View Code? Open in Web Editor NEWOur 2024 Robot Code
License: Other
Our 2024 Robot Code
License: Other
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
This should only be done if build needs the robot for a while and there isn't more code to write
Mechanical Advantage has a whole alert system that we can integrate to warn us about motor disconnects and other physical issues
Waiting for build & electrical to put these on, but good encoders should make shooting more consistent
Tune some better autonomous paths. We need to dial in the vision tuning (#59) before starting on this
Ideally I would like
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.
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
I think we should ideally aim for
But we should probably do minimum-viable product autos first
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).
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
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
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
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
Make the vision better
Might include (if necessary)
First pass getting auto pathing working. Will need to do more tuning once trunk is fully working.
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