Programming progress
We took a break last week, which is why we didn’t have an update for you all. Sorry!
However, we’ve made quite a lot of progress this week. We started out by simulating the flywheels for our shooter using WPILib’s flywheel simulator, which we’ve been using to determine how long it will take for our wheels to spin up, allowing for more accurate auton timing.
We’ve also added support for aiming during auton in simulation. We accomplished this with our aimAtSpeaker() and toTarget() methods. We’re running aimAtSpeaker() every time we want to shoot, and then toTarget() throughout our auton so we’re always aimed at our target. For our aim, we’ve also slightly changed the way that we’re calculating our aim target—the target changes based on where we are on the field so that we always have the biggest target possible. Essentially, our robot is always going to aim at the far end of the speaker from where our robot is, unless it’s close to the middle of the speaker, in which case it will aim at the center of the speaker instead.
We’ve started trying to implement shoot-on-the-move, referencing Mechanical Advantage and Team Rembrandt’s methodology.
After getting the robot, we started testing our teleop functionality. The robot can intake and shoot notes, but the aim has not been properly tested as the build team is planning to add a CANCoder to it. We could still manually adjust the shooter angle, so we tried scoring in the speaker and amp.
We could score in the speaker with little difficulty, but the amp required some tuning. We had to check whether the motors had spun up (which we use our spinUpFinished() method for) before shooting which allowed us to be more accurate and consistent with our amp scoring.