Lots of things happened today.

• Limelight Testing Finished (Yours Truly™ and I): This is the reason for the title. Most of programming was spent hunting for the bug, which turned out to be the command not requiring the subsystem to run. This was confusing, as we thought that that was fixed. A bit more digging on Yours Truly™'s part revealed the error, and so we got the thing working. A bit of debugging in the merge request and we were done for today. As I said, Next Time.
• Further Swerve Calibration (Captain 23, assisted by myself): This has been going on for several practices now. Today, Captain 23 and I downloaded a firmware update to fix the massive inversion issues from last week. After that, Captain 23 spent the rest of practice PID tuning the drivetrain.
• Pneumatics (CornerGremlin, Mowi, and Yours Truly™): These three were working on pneumantics, and realized that there were wiring issues. They also began writing the skiplow code.

See Y'all in February!

There are two authors again now! Things that happened today include:

• Limelight Work (Us Two): We worked on some code on the limelight. It took three created files, four modified files, one deleterd file, and we still don't have it done.
• NEO Stuff (Yours Truly TM): WE love issues. Issues start with "I" and I don't like the fact that I have to solve problems I create :/ Oddly enough though, it's not too bad given the state of the robot. The NEOs were not showing up and it wanted to update and issue after issue but it resolved itself. The NEOs were then hooded up to a cool prototype but I had the NEOs running at .05 speed and then they were like "Lets go faster!" and so I cranked it up to 0.7 and it almost broke the prototype... SO we're still gonna play with that number.
• Skiplow Subcommand (Mowi): Making a command to run the skiplow.
• Endeffector Skeleton (Rowan): Starting the skeleton for the endeffector. We don't know what it's going to be yet.
• Swerve Stuff (Captain 23): Swerve calibration was attempted. It didn't work.

Next time, Limelight! NEXT TIME!

Haha! I'm back to the blogpost! It's Yours Truly™. The turnout today was missing Augie so I'm creating a blog in his stead. Today was some really weird shenannigans.

Captain 23 and pretty much everyone else worked on updating the swerve, some old firmware and stuff nothing big, and then BAM everything starts blinking Green/Yellow. This is news to us. We look up and down the CanCoder manual and there's nothing and then someone remebers why. It's because Pheonix Tuner is now Pheonix Pro. We need a Pheonix Pro liscense to use the motors now. Its pretty much a subscription now, $100 every now and again or something. It's kinda baffeling that it's come to this now but oh well. After some careful manuvering and signing in and a bunch of other things, all of the motors work now. Yay!

While this was happening there was some cool math being done by Yours Truly TM. It was a bunch of work on the double pivot arm and it kind of a pain to get everything working. Sin Cos Tan being tossed around everywhere and it was a lot of effort and I could go on and on about it but you can just have the Graph

Augie was missing :( Quinn was poofed for the first half of practice :( We lost CornerGremlin and Rowan after Dinner :(

but, it was fun nevertheless! Have a good day y'all

Today was a blinding day in programming. Mostly to us.

• Further Limelight stuff (Both of Us): Making SmartDashboard see the Limelight. It took a while and several failed attempts, but eventually we got the info from the Limelight to the robot and SmartDashboard. We also made a motor that should react to the light. The Limelight LEDs and circuit board LEDs were very bright, hence the day being blinding.
• More Swerve things (Captain 23 and Quinn): These two soldered wire on and recalibrated the swerve drive.
• Arm Work (Yours Truly™, Mowi, and Rowan): They worked on programing the prototype arm, and were succsessful. They also fixed the elbow of the arm because it wouldn't move, and rewired the robot to properly use the arm.

Take care y'all!

This is partially an experiment in formatting, using a bullet point list of things we did.

• Printing Apriltags (Yours Truly™ and I, assisted by Nyx). We printed Apriltags, which was a minor adventure because the printer wasn't normal. After a failed ethernet attempt and not being able to find Micheal, we just found a chromebook and just followed the instructions on the wall.
• Limelight Testing (Yours Truly™, Quinn, Rowan, and I). After the Apriltags were printed, Yours Truly™ and I got the board set up. Then Yours Truly™ altered some settings to get better visibility and we checked that the tags registered. This lasted most of practice because Yours Truly™ had the laptop with the actual limelight stuff on it, and I didn't know how to set things up.
• Swerve Work (Captain 23 and Quinn). More work was done on swerve stuff todays. I don't really understand what they're doing but it seems like swerve should... well, Captain 23 says that he hopes he finishes soon.
• Pneumatics testing (Yours Truly™). Some people from build needed a programmer to run pneumatics they were testing.
• Autonomous (New Trio). The new autos were tested today. The robot was short enough that the usual table barricades wouldn't work, and Mowi had the robot ram into him before it was adjusted. Outside of that things went smoothly enough, and the TEST robot drove, both autonomously and by joystick, with their code.

This has been your recap for this Saturday.

Today was a fairly normal practice. Yours Truly™ taught the New Trio how to make autos. They all got basic driving autos done by the end of the night. Captain 23 put swerve stuff on Shuffleboard. I helped test a claw that won't be used, went to a meeting to decide the intake, and was going to work on intake skeletons but deleted the example stuff first and had to spend the rest of practice fixing things.

Terminate log.

Working 4:30 to 8:30, something something something meaning~

Tonight the highlight was a planning meeting wih build where we decided what arm design to use. Roughly. We know it's going to have a few joints run by chains, which is progress! Also, the new trio finally got to testing Robot code! Rowan and CornerGremlin were sucessful before dinner - CornerGremlin right before she had to leave. Mowi tested his code right after dinner. Other notable things that happened:

• Quinn learned swerve stuff from Captain 23.
• I worked on skeleton code for the arm. There were some bugs, but nothing restarting VScode couldn't fix.
• Captain 23 and I worked on troubleshooting the swerve modules and dealing with firmware updates.

That's all, folks!

It's the first Saturday of build season, and I was the only experienced programmer there in the morning.

Okay, that's not entirely fair. The new trio actually has experience now, and they spent their time working on making command-based robots. CornerGremlin had a lot of errors in the morning, but they were sorted out. Things went smoothly for Mowi and Rowan. I spent the morning working on the intake and importing the CAN and Talon stuff.

Captain 23 showed up in the afternoon. We worked on testing swerve modules. We had to wire each motor and Cancoder in, test them individiually, and then unwire them and move on to the next. After testing, it turned out that most of the Cancoders didn't work thanks to soldering issues. The new trio tested their code on the TEST robot George.

Terminate log.

Today was the first practice of the build season! We have our game, we have a plan, and we can start coding.

Techincally Tuesday was the first practice, but it was basically "'kickoff part 2'" and the only important thing that happened was creating the repository of the 2023 robot. If you are looking for a descriptipn of the game, or of kickoff planning, please look elsewhere. While this is technically a blog, I consider it more of a record for internal information. It's on the site that's basically just for programming and no-one else has a reason to look at. I'm pretty sure Ops has a wonderful description of the game somewhere, and kickoff can be summarized thusly: "'We should do something!'" breaks into small groups "'What have our small groups decided we should do?' 'EVERYTHING!'" several rounds of voting "'Alright, back to small groups'". Repeat for ten hours until we finally figure out what to do.

Anyway, programming today. Captain 23 and Quinn worked on swerve drive. Yours Truly™ tought everyone else how the normal code works and had them make normal drivetrains. I helped out with that, but spent most of my time waiting for a job that turned out to not matter. That's life I guess. Also, Mowi expressed in interest in taking on the task of lights when the time comes.

I also learned that GITHub is a pain in the a** thanks to some backend stuff causing the branch to fork. That's why a lot of blog posts are late. Then again, this is more of a log than a blog anyway.

Happy Bloody New Year! This is acutally the second practice of 2023, but the first one was virtual and mostly involved teaching the new studnents how to use Git stuff. Today was quiet. Only four programmers showed up; myself and the three newbies. They aren't really new 'newbies' any more, but they are still new and it's a convinient way to remember them. We spent most of practice updating the computers to the 2023 WPI and FRC Tools. None of this was particularly hard, but it was time-consuming. It took hours for everything to download, extended by the computers going to sleep and cancelling them.

Rowan also worked on upgrading the firmware on the RoboRios. Mowi and CornerGremlin learned how to use all of the Git applications. Good for them, I barely know how any of them that aren't GitHub work.

I'll never be free, and don't expect any more of this thing at the bottom. The lyrics were to Derivakat's and Yuki's song Manhunt. I finally realized it was unprofessional.