Robot code for First Robotics Challenge for 2022.

Overview

rapid-react-robot-code-2022

Robot code for First Robotics Challenge for 2022.

The pictures folder is for the embedded photos. Don't delete it.

Prerequisites

Install the latest version of WPILib 2022 from this link

Then, install the NI Game Tools for First Robotics from this link

Deploying code to the robot

First, turn on the robot using the circuit breaker:

Wait until the router light turns yellow (it will take about a minute)

Next, go to Wi-Fi settings and connect to "2609_widetestbot"

After that, press CTRL+SHIFT+P or press the WPILib button in the top right corner and type "Deploy Robot Code", then press enter.

If you get an error saying BUILD FAILED in Xs, you are probably not connected to the robot. Scroll up in the console.

If you see something along the lines of Are you connected to the robot, and is it on? You are likely not connected to the robot's Wi-Fi network.

If you get a message saying BUILD SUCCESSFUL in Xs, your code is now deployed to the robot and ready to be used.

Comments
  • Saturday, March 5th tasks

    Saturday, March 5th tasks

    • tune flywheel motors so actual rpm has good tracking on set point rpm
    • mark set distances from the goal and shoot ball
      • record the distance and rpm
      • we currently don't have hood motor control, so fix hood position
    • see if there is a relation between all the recorded distance and rpm
      • try to create an equation to fit the points (excel seems like a good candidate for this)
    • once equation is determined (if there is one), implement it and try it
    opened by FernTemp 4
  • Shooter tasks

    Shooter tasks

    • 4 buttons for controlling shooter
      • 1 button to intake a ball and stage it for launch
        • need to figure out which motors can be controlled/which ones to spin to stage without launching
      • 1 button to rotate the turret and bring flywheel up to speed (vibrate controller or some other prompt to let operator know that everything is ready to launch)
        • do we need a backup mode in case auto aim fails? i don't know if we have enough buttons
      • 1 button to launch ball after turrent and flywheel is ready
      • 1 button to bring flywheel up to low speed (maybe 10%?) just to eject any ball we don't want
    opened by theyeeman 4
  • Using burnflash() modifies spark max configuration even when different code is uploaded

    Using burnflash() modifies spark max configuration even when different code is uploaded

    burnflash() will permanently change the spark max's configuration even after the robot is powered off. This means that if you turn the robot off and change the code, it will still have that configuration unless it is configured again.

    It probably shouldn't.

    bug 
    opened by UserC2 4
  • A way to exit the climb command and reset the encoder

    A way to exit the climb command and reset the encoder

    Currently, once X is pressed, the climb command cannot be exited (even by disabling and reenabling the robot). The only way to exit the climb command is to power cycle the robot or to redeploy the code. This means that even when the robot is disabled and reenabled, the robot still tries to maintain its previous encoder position which causes it to send the arm flying upwards at full speed when the robot is reenabled.

    The climb function should have a way to exit it (e.g. a button press), AND should also reset the encoder position once the robot is enabled again.

    bug climbing Medium 
    opened by UserC2 4
  • Create constant variables for controller button/axis numbering

    Create constant variables for controller button/axis numbering

    Create constant for each button/axis number on the Xbox controller. For example, instead of this:

    setHook(-m_stick.getRawAxis(5));
    

    we create a constant in the Constant.java file:

    public final class Constants {
        public static final int RIGHT_STICK_X_AXIS = 5;  // not sure if this is the correct number but this is just an example
    }
    

    and use this constant instead of hard coding the numbers:

    setHook(-m_stick.getRawAxis(Constant.RIGHT_STICK_X_AXIS));
    
    opened by FernTemp 4
  • Color sensor subsystem takes > 20 ms to execute

    Color sensor subsystem takes > 20 ms to execute

    Currently you can disable it by commenting out the color sensor line in RobotContainer.java:

    //public final ColorSensing m_colorSubsystem = new ColorSensing();
    
    bug Medium 
    opened by UserC2 3
  • Rename Constants

    Rename Constants

    Instead of something like XboxConstants.X_BUTTON, we could use Constants.Xbox.X_BUTTON It would reduce the amount of imports and get rid of the Constants suffix.

    Also, PwmMotorId could be PWM instead (easier to type) and it's still clear, same with CAN: Constants.PWM.LOWER_BELT_MOTOR

    opened by UserC2 2
  • Drive motors speed is 50%

    Drive motors speed is 50%

    Mr. Moore wants the drive motors at 50% speed for practicing driving. This adds a new constant that allows it to be easily changed, and makes sure that the changes are present when creating a new branch so there isn't any surprises (like we had when practicing climbing and finding out that the drive motors are at 100%).

    bug 
    opened by UserC2 2
  • Colour sensor shooter intake

    Colour sensor shooter intake

    Closes #35 Closes #37

    colour-sensor_shooter-intake was branched off of shooter-intake, and since it is now working, should we merge it back into the shooter-intake branch?

    opened by UserC2 2
  • Check ball color and write custom color sensing code

    Check ball color and write custom color sensing code

    1. Print R, G, B values for color sensor to Smart Dashboard
    2. Check red ball and write down R, G, B values for red ball
    3. Check blue ball and repeat above steps
    4. Write custom color sensing code that will compare R, G, B values and output which ball it is currently sensing, or no ball if it isn't close enough to each color.

    We should probably also check what the color sensor values are when it isn't pointing at anything.

    Medium 
    opened by UserC2 2
  • setArmPosition parameter in Traverse is unclear

    setArmPosition parameter in Traverse is unclear

    m_climber.setArmPosition(77.64+((101-77.64)*progress));

    Why is this value that is being calculated? This line is also used in TraverseBack.

    Could this value be calculated in a function so it can be reused in TraverseBack?

    Related to issue #20

    documentation climbing Hard 
    opened by UserC2 2
  • Make code pretty

    Make code pretty

    Clean the code up (i.e. remove commented out code, delete unused imports, etc) so we have a more readable version of the code if we need to refer back to it

    opened by theyeeman 0
Owner
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