Rowdy25

TODO:

Alpha bot:

• [x] Test swerve drive
• [x] Test turret function
• [x] Tune slippage current
• [x] Test cameras & filters
• [x] Test intake command
• [x] Test wrist CANCoder offset
• [x] Tune elevator
• [x] Test pivot gravity gains
• [x] Remove voltage constraints if everything works
• [x] Test manual controls
• [x] Test presets
• [x] Swerve automation pt. 1 - rotational alignment

Friday, 2/14/2025 to test:

• [x] Retune wrist feedforward + feedback
• [x] Wrist presets + tuning
• [x] Pivot cancoder issues
• [x] Decide on L1 position
• [x] Tune Canandcolor for intake (coral)
• [x] Elevator limit switch

Friday, 2/14/2025 software only:

• [x] Driver only - work on OnFalse triggers instead of OnTrue because of debounce hold to pathfind/direct move to position then OnFalse will subsequently deploy the state properly and effectively
• [x] Double click debouncer
• [x] Move to algae vs coral (drive to object overhaul)
• [x] Swerve automation pt. 2 - pathfinding/translation alignment

Saturday, 2/15/2025 to test:

• [x] Test robot state chooser

Saturday, 2/15/2025 software only:

• [x] Auto - java structure (chooser), paths (pathmanager), commands

Tuesday, Wednesday, 2/18-19/2025 to test:

• [x] Fix pivot cancoder issues
• [x] Reconfigure wrist cancoder
• [x] Redo wrist presets as needed
• [x] Fast wrist
• [x] Intake
• [x] Test localization trust filter & cameras
• [x] change tolerances and pids and retest pathfinding to reef (try no pid but constant slow velocity)
• [x] Test multiple chooser
• [x] Preliminary auto things

Tuesday, 2/18/2025 software only:

• [x] finish paths
• [x] check for correct event markers & tune locations of each marker
• [x] perfect/tune the control points (consistent in transitioning between paths)
• [x] coral station optimization

Saturday, 2/22/2025 to test:

• [x] test updated keybinds for mishiwaka
• [x] discuss two options for reef translation auto-align - driver does it while true (pov) or operator does it (more complicated)

Tuesday, 2/25/2025 to test:

• [x] tune max tag clear dist
• [x] test new single tag pose (need to zero properly first)
• [x] tune max tag clear dist for above single tag pose calculation
• [x] (try for comp bot)
• [x] auto
  • [x] try not corner of the coral station
  • [x] try cameras looking forward

Thursday, 2/27/2025 to test:

• [x] try updating pivot G gains
• [x] auto
  • [x] new camera mounts on
  • [x] try slower rotation and faster linear acceleration
• [x] climb subsystem
  • [x] climb presets

INMIS:

• [x] auto
  • [x] try variety of paths
• [x] test climb subsystem more

Monday, 3/04/2025 software only:

• [ ] new spherical pathing for pathfinding to branch

Comp bot/later:

• [x] Re-add automatic intake logic
• [ ] Tune Canandcolor for algae intake
• [x] Implement climbing
• [x] SysID for elevator, pivot, wrist comp bot
• [x] Fine tune state transitions for efficiency
• [x] Test ground intake/object detection (after mishiwaka)

Saturday, 3/29/2025 software: comp bot:

• [x] distance sensor + software implementation
• [x] more efficient dependent pathfinding
• [x] camera sensing vs. distance sensor via boolean trustCameras for coral obstruction

ground intake:

• [x] ground intake motor setup + logic revamp
• [x] pathing to coral

Saturday, 3/29/2025 to test: comp bot:

• [x] test scoring
• [x] test bugfix for mid-stow bug going into teleop

Sunday, 3/30/2025 software: ground intake:

• [x] clarify algae intake sensor
• [x] fix command to direct drive to note and consider making an automation class for compiling path finding to certain locations and searching for coral
• [x] revamp pathfinding location
• [x] double-sided reef outtake
• [ ] revamp/fix auto
• [x] (if possible) algae intake
• [x] implement independent system in the case of camera failure that utilizes the canandcolor proximity sensor to adapt to coral obstruction (boolean trustCameras in Localizer.java)

Monday, 3/31/2025 to test: comp bot:

• [x] test proximity threshold network table entry, intake stuck
• [x] try high I without the tension
• [ ] test dynamic autos (intake stuck/incorrect intake)
• [x] test/configure distance sensor

ground intake:

• [x] (once assembled) ground intake motor setup + logic revamp
• [ ] test pathfinding locations and auto scoring
• [ ] test auto (with dynamic if possible)
• [ ] (if possible) test algae net and processor scoring