54 lines
2.1 KiB
Markdown
54 lines
2.1 KiB
Markdown
# Top Priority (for manual shooting functionality by RIT)
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These are the jobs to be completed first, to ensure we have minimal functionality for RIT
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- Add subsystems to robot
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- Define unique IDs and channels for all devices in Constants.java IP Dom
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- Add subsystems to the RobotContainer X
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- Updates to subsystems X
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- Update launcher wheel to a Neo/SparkMax X
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- Define basic commands for manual fire mode
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- Y/Top button: Deploy the intake (and run the rollers)
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- Could be a single command
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- Could be 2 commands in sequence
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- B/Right button: Reverse the intake
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- Unclear if this should touch the deploy motor. ATM suggest leaving the deploy motor alone
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- A/Bottom button: Retract the intake (and stop the rollers)
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- D-pad: Set deflector to pre-programmed angle
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- Suggestion: Implement this once, and make the angle an member variable of the command
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- Both Triggers: Spin up flywheel (if not already spun up) and then start the kicker.
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- Re: Sensing flywheel speed
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- Could be a time offset (i.e. wait for N seconds for the motor to spin up)
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- Ideally, check the encoder speed (will need the encoders for auto launch)
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- Advanced movement functions:
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- L Bumper: "Nudging" mode:
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- On press:
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- Briefly move the robot forward then stop
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- Trigger nudge at 1 to 2 hz (to be determined, control via constant)
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- Duty cycle (i.e. what percentage of the time the robot is actively moving) is undefined. Control via constant
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- On release:
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- Return to normal driving mode
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- R Bumper: "Trench Maneuver"
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- On button press/enter:
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- Move deflector to lowest position
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- Deploy the intake, no need to start the rollers if not started
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- On button release/exit:
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- Return the deflector to its previous state
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- Restore intake to previous state
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# Secondary priority
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These are to be completed after the top priority tasks. Currently, they focus on getting automatic targeting working.
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- Integrate limelight positioning
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- Integrate automatic aiming
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