2023-robot

TODO

Copy 2022 evergreen classes. e.g. Joysticks, auto routine chooser, drivebase, etc.

Create Robot Constants:

• Talon ID
• Pneumatic ID
• PDP ID

Subsystems

Drivebase
Shoulder
Arm
ClawRollers
ClawPincher
Targeting Lights

Commands

DriveToLevel - drive forward until the drive base angle is less than 10 degrees.
DriveToCone2 - target the level 2 cone node and drive to it.
DriveToCone3 - target the level 3 cone node and drive to it.

ShoulderRotateTo(Degree): 0 is horizontal front, 90 is vertical up, 180/-180 horizontal back, -90 vertical down.
ArmExtend(dist) - extend or retract the arm to a position.
ClawRollersSet(+- power) - set the roller power to suck in or spit out.
ClawPincherSet(open/closed)

SystemPlaceConeOn2 - rotate shoulder, extend arm, lower shoulder, open claw, retract arm.
SystemPlaceConeOn3 - rotate shoulder, extend arm, lower shoulder, open claw, retract arm.
SystemPlaceCubeOn2 - rotate shoulder, extend arm, lower shoulder, open claw, retract arm.
SystemPlaceCubeOn3 - rotate shoulder, extend arm, lower shoulder, open claw, retract arm.
SystemGetConeFromLoadingZone - with robot bumpers touching loading zone, back up, rotate shoulder, open claw, extend arm and claw rollers suck in, pinch, lift shoulder, retract arm, lower shoulder

AutoRoutines

Auto_[Alliance]_[StartingLocation]_[StartingGamePiece]_[ScoringLocation]_[NextPiece]_[ScoringLocation]_[AutoLevel]

Alliance

Red Blue Read this from the Driver Station

Starting Location

Grid 1 Grid 2 Grid 3

Scoring Location

Cone L2/3 Pos 1/2/3/4/5/6 Cube L2/3 Pos 1/2/3

Next Piece

Cone 1,2,3,4 Cube 1,2,3,4

Scoring Location

Cone L2/3 Pos 1/2/3/4/5/6 Cube L2/3 Pos 1/2/3

Auto Level

Auto

AutoPlaceConeOn3AndAutoLevel AutoPlaceConeOn2AndAutoLevel AutoPlaceConeOn3 AutoPlaceConeOn2 AutoPlaceConeOn3Grab