This is the repository for all official, working, and completed builds for the Team 3467 2019 robot.
- PLEASE KEEP DEVELOPMENT BUILDS IN Skip-5.9-Development
| Subsystem | PDP Slots | Controllers | CAN IDs | Motor | Sensors |
|---|---|---|---|---|---|
| Drivebase | 6 | 2 Talon, 4 Victor (slaves) | 1->6 | miniCIM | Encoder on each side of drivebase, each connected to the Talon SRX for that side |
| CargoLift | 1 | Talon SRX | 7 | RS-775pro | VP EncoderSlice |
| CargoIntake | 3 | Arm: 2 Talon SRX Roller: 1 Victor | 8->10 | RS-775pro | Encoder on CargoArm |
| CargoHold | 1 | Victor SPX | 11 | BAG motor | Limit switch or photosensor to detect when Cargo is in |
| HatchGrabber | 2 | Victor SPX | 12-13 | Bosch Seat motor | Internal Hall Effect sensors |
| Limelight | 1 | ||||
| LEDs | 1 | Needs buck converter module (12V -> 5V) | |||
| Lidar | 1 | ||||
| Gyro | 0 | 1 | Pigeon IMU on CAN - attached to Talon or direct to CANbus | ||
| Totals: | 16 |
Methods:
Commands:
DriveBot() - teleoperated driving
<other commands as needed>
Methods:
Commands:
PositionLift(enum liftPosition)
enumeration liftPosition:
Home / LoadingStation / CargoShip / Rocket_L1 / Rocket_L2 / Rocket_L3
Other Notes:
Use Talon's MotionMagic() to position CargoLift
Methods:
Commands:
StowIntake()
PositionIntake()
PositionForLift()
LiftWithIntake()
IntakeCargo()
ReleaseCargo()
CrawlForward()
CrawlBackward()
Other Notes:
Will need different speeds for controlling Cargo vs. crawling forward using CargoRoller.
Use Talon's MotionMagic() to position CargoArm
Methods:
Commands:
IntakeCargo()
ReleaseCargo(enum ReleaseSpeed)
enumeration for release speed in case we need to "shoot" the cargo into a target rather than gently spit it out
Methods:
Commands:
deployGrabber()
stowGrabber()
grabHatch()
releaseHatch()
Methods:
getTx()
getTy()
getTa()
hasTarget()
getLED()
Commands:
enableLED()
disableLED()
Methods:
isEnabled()
Commands:
enable()
disable()
setEffect()
Methods:
getDistance(int side)
Commands:
zeroDistance(int side)
Methods:
Commands:
getCurrentAngle()
zeroAngle()