2021-Chezy

Everything works!

Auton

1. Right - 6 ball auton with bumpers 8 inches from the field perimeter. Shoots 3 balls, drives straight to trench to pick up 3 more
2. Center - Shoots 3 balls, and drives towards the wall, where it will wait
3. Left - Shoots 3 balls, and drives towards the wall, where it will wait

Teleop

All Subsystems work. Prominent features:

1. Self unjamming intake (From previous release): Unjams based on current spikes
2. Auto-indexing indexer (New): Indexes balls automatically based on chamber states from TOF sensors
3. Auto Aligning Turret (From previous release): Based on vision

Vision

Now split on Pi and roborio. Pi is now only responsible for taking pictures, finding target and sending coordinates to the robot. The robot then calculates the angle based on how far it is from the center and the width and height of the image. It calculates distance based on the area of the contour which is then inputted in a regression function that approximates the distances.

This version is much faster than previous release. Avg cycle run time is ~250ms (faster than the 330ms before)

Code from Utah - Post Quals Day 1

v1.1-utah

No xbox climber mapping

Pre-Utah Code

Current Status:

Subsystems are functional with basic autonomous. Vision testing in progress. Otherwise, we can drive around and do teleop things, and most issues on intake-indexer should be resolved.

Yet untested/in progress:

Vision
Distances and angles to RPM
Autonomous select through dashboard
Path following with Ramsete command
More complex autonomouses if time allows
Auto drive forward to align on climb
Climber HookOnBar