End of Kettering

v2024.4

open up tolerance and fix shoot tilt angle calculation

Friday Kettering Lunch

Experiencing Brown Out Issues.
Turret Not Functioning Properly (Contains Wrong Logic for Slow/Quick Acceleration Switching)

Lots of Auto Paths to Fit Most Needs

Night Before Kettering Competition

Autonomous Runs!
Extake with Turret Tilt Down Added!
Lights Added!

Autonomous had issues that will be fixed in upcoming releases.
Lights are also not fully implemented, nor did they turn on and off as expected.
Most importantly, we need a lot more autonomous paths using PathPlanner, which are coming soon, like, next few hours soon...

Wednesday Before Kettering

We have come so far this season, and so far even in the past week. Thanks to our collaboration as a programming team and with the entire team this season, we have a highly competitive robot for Kettering Week 2 2024 for the FRC CRESCENDO game!

Our robot has the ability to:

• Pick up notes from all 4 sides of the robot off the ground
• Index from any 4 of the intakes into the turret automatically
• Shoot into the speaker from the subwoofer with ~99% accuracy
• Shooting relatively close to the speaker with ~60% accuracy
• Shoot note into speaker during autonomous
• Climb using a 2-step, dual-driver-lockout-enabled climb
• Several functionalities to mitigate impact of existing failure modes

For Kettering we still have to:

• Make sure the "fish" sensors are tuned for the lighting on the Kettering field
• Tune pose estimation for camera offset for the AprilTags on the Kettering field
• Switch to fixed PathPlannerAutos instead of auto-generating due to complications
• Ensure intake and shoot commands work with fixed autos.
• Add control of the LEDs with the REV Blinkin for communicating to press Amp or Co-op buttons
• Add reset climbing functionality from controller (or keyboard?)
• Check logic for noteLoaded from autonomous to teleop

Still to Come:

• Shooting in speaker while moving
• Dynamic path generation based on note hierarchy from sendable choosers

This would not have been possible without the rest of our team who designed, build, and wired the robot; however, I would like to congratulate Josh, Shupra, and Kevin this year for putting in the effort. Josh really stepped it up this year and has written a majority of the code. Shupra and Kevin both have made undoubtably important contributions, some in the code, but mainly collaborating together and offering input to make this year the success that it has been so far. I, personally, have made more contributions than I would have liked to; however, there is a fair chunk of what has been uploaded under my account has been between the three programming students.