katzuv / pre-2019 Goto Github PK

Create a command for the Turret subsystem which takes the required angle of the turret relative to its initial position, and make the Turret turn to this angle.

Optimize the command to make the Turret rotate no more than 180°, so for example, if the Turret needs to rotate 270°, make it rotate (-90)°.

Consider making this command the default command of the Turret, as it will be cool to see the turret always aligned with the target.

Components of the subsystem:

• One motor with one Talon SRX. Use the "Motion Magic" ControlMode of Talon SRX. Read more about it in sections 10.7 and 12.6 of the Software Manual.
• One encoder.

Components of the subsystem:

• Two motors, one Talon SRX and one Victor SPX. Use the "Velocity" ControlMode of Talon SRX and make the Victor SPX follow the Talon SRX. Read more about the "Velocity" ControlMode in sections 10.3 and 12.4 of the Software Manual.
• One encoder.

Create a command to take the cubes inside the Intake. Use a proximity sensor to stop this command when a cube was intaked. You can learn about the usage of a proximity sensor in our code from 2018, in the Gripper's proximity sensor and isCubeInside method.

Components:

• Three motors:
• Two motors for the Intake arms, one motor for each arm. Use two Victor SPs for these.
• One motor for folding the arms, one potentiometer attached to it.

Make the Shooter and Conveyor stop operating if the robot senses it's moving while shooting.
Also, check whether setting the neutral mode of the Drivetrain's motor controllers to "brake" will help to prevent the robot from moving while it's shooting. Read more about the Brake/Coast modes of the Talon SRX and the Victor SPX here. (However, we currently use Victor SPs on the Presentation Robot, so wait with this part).
A demonstration of this feature by Team 254 can be seen here (will post the video's link later) (MM:SS).

Components:

• One motor that controls the Conveyer's rotation (ON/OFF control). Use a Victor SP.
• One motor that conveys the balls to the Shooter (ON/OFF control).

Create a command which rotates the Conveyer and conveys the balls into the Shooter.

Create a command for the Shooter to make it rotate in a given velocity. The velocity is sent through Network Tables.

Several commands work by setting the motor speeds in the init() and immedietley closing. We need to check if this works, or if it has to be in the execute().

Create a shooting CommandGroup that conveys balls inside the Shooter, rotates the Turret to the desired angle and shoots them.
IMPORTANT! Make sure the Shooter spins fast enough before balls are conveyed into it.