2.1 KiB
2.1 KiB
Top Priority (for manual shooting functionality by RIT)
These are the jobs to be completed first, to ensure we have minimal functionality for RIT
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Add subsystems to robot
- Define unique IDs and channels for all devices in Constants.java
- Add subsystems to the RobotContainer
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Updates to subsystems
- Update launcher wheel to a Neo/SparkMax
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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)
- Could be a single command
- Could be 2 commands in sequence
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B/Right button: Reverse the intake
- 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
- 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.
- Re: Sensing flywheel speed
- Could be a time offset (i.e. wait for N seconds for the motor to spin up)
- Ideally, check the encoder speed (will need the encoders for auto launch)
- Re: Sensing flywheel speed
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Advanced movement functions:
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L Bumper: "Nudging" mode:
- On press:
- Briefly move the robot forward then stop
- Trigger nudge at 1 to 2 hz (to be determined, control via constant)
- Duty cycle (i.e. what percentage of the time the robot is actively moving) is undefined. Control via constant
- On release:
- Return to normal driving mode
- On press:
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R Bumper: "Trench Maneuver"
- On button press/enter:
- Move deflector to lowest position
- Deploy the intake, no need to start the rollers if not started
- On button release/exit:
- Return the deflector to its previous state
- Restore intake to previous state
- On button press/enter:
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Secondary priority
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