Apoloies about the lack of updates for the past several weeks. It was mostly auto work, Worlds, and recovering from Worlds. As for how we did there? No awards, ranked 25th, ended up as 3rd pick of Hopper Alliance 2. They got to the division finals and we lost because they didn't submit the thing to let us swap with a broken robot in time. There were also more captain selections. The final roster is: Opal for all-team, Leo for design, Orion for production, Lio and May for operations, and Rowan and Zach for programming. Anyway, actual programming things done today:

• Trigger Fixes (Me): Drive team was running into issues where the robot wasn't reading the buttonboard on startup, so I fixed that. The solution was to stop making everything triggers.
• Algae Pickup Improvements (Rowan, Serena, Nigel): We can now pick up algae better, although this code hasn't been tested.
• Processor Improvements (Xiaohan): This wasn't working great, so Xiaohan wrote a new and improved processor command.
• Algae Autos (Griffin, Zach): The various autos were made substantially faster. There were also some new autos made to steal algae from the opposing alliance.
• Simulation Research (Nigel): This happened.
• ClosestReefSide Fixes (Serena, Nigel): Currently the ClosestReefSide based on alliance is read from the driver station rather than the field X-coordinates. A fix to this was started.

As we have ceased Thursday and Saturday practices, there will not be more posts this week. In addition, as I am graduating and none of the other students like doing this, next week's post will likely be the last.

So, it's been a while since the last post. This is mostly my fault, I forgot and no-one else on the team writes these at this point. Anyway, we won 10K with Binary Bolts and Rodeo Robotics, and have spent the past few weeks doing what we can in preperation for Worlds.

• Rotator removal (Me): As the robot no longer has a funnel rotator, I had to reassign the buttons and remove the code.
• Algae Improvements (Rowan, Xiaohan, Serena): We now have commands that can collect algae from L3 and L4 without knocking off coral.
• L1 Scoring (Rowan, Xiaohan, Serena, Zach): This works now.
• Robot Summary (Davey): A list of our capabilities and automatic functions was compiled and sent to Ops.
• Warmup Command (Nigel): This command turns on the lights and prevents some jitters.
• Profiling Research (Griffin): This happened. We are well on our way to correcting the loop overruns that plauged us at 10K.

Also, Mowi worked on the robot reveal video.

So, it's been a while since the last post. This is mostly my fault, I forgot and no-one else on the team writes these at this point. Anyway, we won 10K with Binary Bolts and Rodeo Robotics, and have spent the past few weeks doing what we can in preperation for Worlds.

• Rotator removal (Me): As the robot no longer has a funnel rotator, I had to reassign the buttons and remove the code.
• Algae Improvements (Rowan, Xiaohan, Serena): We now have commands that can collect algae from L3 and L4 without knocking off coral.
• L1 Scoring (Rowan, Xiaohan, Serena, Zach): This works now.
• Robot Summary (Davey): A list of our capabilities and automatic functions was compiled and sent to Ops.
• Warmup Command (Nigel): This command turns on the lights and prevents some jitters.
• Profiling Research (Griffin): This happened. We are well on our way to correcting the loop overruns that plauged us at 10K.

Also, Mowi worked on the robot reveal video.

Programming is running out of things to do. There are nine of us, and it's the same three (Rowan, Xiaohan, and Zach) at the practice field every day. Most of what remains is easily accomplished or related to the robot, which the rest of us don't have. But there are still things to be accounted for.

• Code Cleanup (Me, Griffin): The unused imports have been removed and unclear code has been commented.
• Button Board 2 Work (Me, Davey, Griffin, Zach): There were many buttons to solder today. Everyone took a turn at soldering.
• WPILib updates (Nigel): This happened.
• Practice Field Work (Rowan, Xiaohan, Zach): They worked on 4-coral and 3-coral autos. The 3-coral worked about 90% of the time, and the 4-coral autos exceeded the 15-second timespan.
• Programming Cart Cleanup (Serena, Davey, Nigel): This happened.

Also, a number of people helped with bumper construction.

There were conferences at GRS today, so programming and build had to share the workshop.

• Button Board Work (Me, Xiaohan, Davey, Zach): We have begun construction of a second board. Everyone else did sodering, I just was there at the meeting. Davey also made labels for the first board.
• Practice Field Log Review (Rowan, Nigel): This happened.
• Testmode work (Rowan, Xiaohan, Nigel): This was worked on.
• Auto Improvements (Serena, Zach): The auto paths were made more efficient.
• Code Cleanup (Me): I started going through the code, adding comments and removing unsused imports.
• Robot Reveal Work (Omariahn): This was done. It is going well.

Operations was over at the house of one of their captains.

Sorry about the lack of posts, I've been working on other stuff. Anyway, things done today:

• Button Board Completion (Me, Mowi, Xiaohan, Davey): The button board wiring was completed today. We got the case last week, and put all the buttons into the physical board on Saturday. We tested it today, and it worked. Apparently we're staying late tonight to add the a button everyone forgot about.
• ALgae Endeffector Work (Zach): The motor was changed to a Talon FXS.
• Climber Fixes (Serena, Nigel): The climber switched to using a servo for the ratchet and no longer overspools, so the code had to be altered.
• WPICal (Davey): Still not working. Apparently it is very bad at working on the Reefscape field.

And in the last few minutes of practice we erased the ENTIRE BOARD CODE!

We went back to working on the Button Board today.

• Button Board (Me, Mowi, Xiaohan, Zach): We worked on some of the button board stuff, as the frame is under construction. Mowi and Xiaohan were kind enough to wire the buttons while I finished the code on the circuit board.
• Elevator Tuning (Rowan, Zach): The elevator was tuned some more. The PID values are now more accurate. Also it Sang The Song Of Its People a lot.
• L1 placement fixes (Serena, Nigel): The L1 placement code was fixed, probably.
• Co-Driver Controls (Zach): There is now an Xbox controller configuration for the co-driver.
• Algae Stealing Command (Griffin): This was worked on.
• Intake Testing (Griffin, Nigel): These two helped Build tune the intake motors.

Also, Zach taught Margo how to do co-driver stuff.

We did the team captain nominations earlier than normal (because five of six captains are seniors and the last one is a junior, we wanted to give them more training time). Today Zach, Xiaohan, Opal, and Nyx. Anyway, stuff we did today:

• Algae Autos (Me, Mowi): We made three algae autos and a bunch of paths.
• WPICal research (Davey): More research is done, and Davey told the drivers what videos to take.
• L1 Scoring (Zach, Griffin): This was made but not tested.
• Elevator tuning (Rowan, Serena, Nigel): There were some alterations to the elevator, so these three needed to make sure it still works. It did.

Officially, this blog should be impartial as to the captainship of the team. Unofficially, Nyx all the way 'cause they're my sibling.

No posts last Thursday or Saturday because of competition. I'll get the megapost out at some point. No post this Tuesday because there was no practice, and no post this Thursday because I was sick and no-one else does this. :(

• WPICal (Davey): This program is designed to find Apriltag placement problems. Apparently it is also difficult to set up/
• Button Board Work (Me, Omariahn): We selected buttons, finalized the layout, and handed it off to Build.
• Practice Field Stuff (Rowan, Xiaohan, Zach): Tested new targeting PID instead of Pathplanner (it works now). They also tested automatic processor and barge algae placement. Apparently the placement loops got funky.
• Auto Barge Algae Named Command (Me): This exists now.

Insert Stinger Here.

My sibling (who is on ops, not programming) dressed up as Elizabeth Bennet for the day because they felt like it, and we packed for the Duluth trip.

• Packing(Xiaohan, Serena, Mowi, Davey, Griffin): We packed a crate of stuff for Duluth. It includes computer bags (each with a computer, charger, ethernet cable, and REV cable), spare radios, several Xbox and PS4 controllers (the Button Board wasn't done in time), an extra computer, and portable chargers. There were going to be spare Limelights but Rowan left them at his house.
• Test Mode Creation (Me, Rowan, Nigel): We set up a test mode for use during pit checks.
• Robot Tuning (Rowan, Xiaohan, Zach): The robot was tuned and driver practice occured.

Also, the last half of practice was spent doing not much because there was nothing to do.