4 posts tagged with "build season 2024"

Hello again. Various things happened today, mostly because we had the robot to work with.

• Intake work (Me): This was annoying to code. Five motors, multiple potential configurations, design requirements changing MULTIPLE TIMES during production... ugh. This was made marginally easier by not needing a PID loop, but was still pretty difficult. It was also helped when the brush-roller miscommunication stopped.
• Limelight Work (Xiaohan, Griffin): There was going to be limelight stuff done, but Xiaohan got called away and Griffin didn't have the knowhow.
• Autoshoot (Serena, Zach): Most of the math is done. In addition, there is a command for rotating the robot with the autoaim.
• PIXY stuff (Zach): Zach did work with object tracking and a PIXY camera.

So, yeah.

This was the first Saturday practice of the season, and due to miscommunications and poor memory a bunch of people forgot to bring a lunch today. For those who don't know, while dinner is provided on Tuesdays and Thursdays, on Saturdays you bring your own lunch. Anyway, actual programming things that happened today:

• Shooter PID (Us): We finished the PID code, and committed it, after struggling with the Smart Dashboard code for a while. As it turns out, RobotContainer is annoying but also made it so we didn't have to spend half an hour making functions that it turns out don't work that way because RobotContainer doesn't have individualised teleop bits.
• Auto-Fire Math (Serena, Zack, Rowan): Serena worked on and finished the Auto-Aim, theoretically at least, as it has yet to be tested. Zack helped with the math.
• Limelight Stuff (Rowan, Davey, Zack): Zack worked some on trying to use machine learning combined with the limelights to recognize images the robot sees. Zack also did a lot of research on limelights, image recognition, and the PixyCam. Davey also did things with limelights, but left early.
• Climber stuff (Us again): We worked on making our second subsystem of the season, a climber. The physical design hasn't quite been finished, but we had enough information to make a sequential command group, and bind it to a button.
• Swerve Drive(Rowan): Rowan tried to fix this, because it wasn't working. The PID had been wrong, and was actually auto correcting to the worst possible place instead of the best.

To practice on Saturday, you should bring a lunch, for eating and thinking, and eating chips that crunch. But if you should not, feel no despair, for with stores of food from the closet, the mentors will be there.

Today's lesson in programming: read the docs first, don't be overconfident, and CANcoders/Cannivores run on 12-volt power. Anyways, things we did today:

• PID Controlling (Us + Davey): We began adding PID functionality to our shooter, to keep two motors running at the same speed.
• Moira Work 2 (Xiaohan, ): Moira was still broken from last time, so they worked on fixing it. It turned out that the CAN network was plugged into the wrong thing, and a few other things needed to be fixed.
• Projectile Math (Zack, Serena and Rowan): They worked on some of the math needed to get the Auto-Aim working, and ended up learning about Ballistic Physics. They also attempted to figure out the formulas needed for the Aim.

Never forget, always remember: Read the docs, or be at practice till September.

Welcome to the new season, we will be here a while. For a description of the game or kickoff, please look elsewhere, this is just a documentation of programming affairs. In addition, there is no blog post for the swerve intensive that happened over winter break because I forgot to write one. So, things we did today:

• Shooter Subsystem (Us): We wrote a shooter subsystem, with the attached commands, constants, and triggers.
• Moira Work (Xiaohan, Serena): Moira broke in the process of the swerve instensive, so it had to be fixed. The issue was a simple matter of installing the new RoboRio firmware. In addition, the robot was reconfigured to work with two limelights. Note: Moira is currently the test robot for all of our stuff until the new one is built, as it is basically just a swerve chassis with a limelight.
• Apriltag Work (Davey, Zach, Griffin): New year, new game, new Apriltags. Davey printed them out, while Zach and Griffin started making a map.
• Intake work (Serena, Zack): They began construction on the intake subsystem. They did not get very far, as both were called away.

That's all for tonight.