17.3.24 Programming Update
Since our last post, we’ve been busy optimizing our robot and creating new autons! After our Anderson event, we finally got our new wheel radius characterization method working. It’s inspired by 6328 Mechanical Advantage’s wheel radius characterization technique, and it is so much easier than the pushing-and-measuring method we used before!
Our autons have also improved significantly :D. After Anderson, we noticed that our robot did not follow our Choreo paths perfectly because Choreo doesn’t account for battery voltage, so the robot was sometimes slipping when it tried to keep up with the path. We fixed this by constraining the torque more. We also added several new autons! During Anderson, we upgraded our 3-piece auton to a 3.5-piece auton. This week, we also added a 4-piece auton and a 5-piece auton! In general, we also worked on optimizing our auton paths in Choreo a little more to allow for faster autons.
Currently, we are still working on tuning our arm for faster and more accurate aiming. Additionally, to make robot set-up during competitions more accurate, we also are adding a limit-switch based system on the robot to make the arm start in the same place every match.