[apalrd]

Programming:

Drivetrain code is tested, and debugged, and has about a solid week of improvement (and the robots aren't actually driving yet). Constants will need to be tuned for both robots. Still more to improve, so I will have some work to do here.

Camera code has been tested and debugged, and has a solid Saturday of testing and debugging (a good 8 hours, stopping only to change batteries).

The autonomous driving and turning code has been debugged and tested. The routines will call these these two functions for almost all of their movement.

All of the drivetrain automation has been written, and 1/2 of it has been tested, but it needs more improvement to fix annoyances. This is mostly based on inputs which are not very robot-specific, so it should transfer nicely to the final robots.

The mechanism code has been written and not yet tested.
The claw code has been written. Some of the sensors have been tested independently, and shown to work.

I used a chassis which we built in the fall. It has a pair of stock Toughboxes and kit wheels, in the same wheel configuration that the final robot will (although it has Super Shifters). It has a pair of encoders, a gyro, and a camera. I developed all of my code on this robot. The only thing I couldn't write and test was the shifting code, which is mostly logic so it is fairly easy to test in a simulator.

My point: You shouldn't need tons of time to code on the actual robot. All of the code should be at least somewhat tested, either in simulation or on another robot. If you know the code works, and can fix bugs you find, changing the tuning constants to match another robot is very fast and easy.