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CalGames 864 robot changes #97

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CalGames 864 robot changes #97

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6704a33
Add code for controlling gear rollers
shadaj Oct 12, 2017
1f17895
Update config and eliminate two-way file handling
shadaj Oct 12, 2017
7bc3d56
Actually wait for five seconds for calibration
shadaj Oct 12, 2017
7c18ce8
Make things compile
shadaj Oct 12, 2017
1779cfc
Complete roller gear tested on the robot
shadaj Oct 12, 2017
dd6b7cd
Update auto/manual collection button mappings
shadaj Oct 12, 2017
eb6a7cb
Update camera URI to new Jetson URI (#96)
Oct 13, 2017
4a0d0b9
Fixed hardcoded ip in cam select
kunalsheth Oct 14, 2017
2e40edb
Changes for a working side gear autonomous
shadaj Oct 14, 2017
3d18bbc
Bump Potassium version
shadaj Oct 14, 2017
e2b4862
Final changes for CalGames
shadaj Oct 16, 2017
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212 changes: 32 additions & 180 deletions 864-robot-config.json
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,10 @@
},
"drivetrain": {
"ports": {
"rightBack": 13,
"rightFront": 12,
"leftBack": 11,
"leftFront": 10
"leftFront": 10,
"rightBack": 13,
"rightFront": 12
},
"properties": {
"maxLeftVelocity": [
Expand All @@ -37,7 +37,7 @@
"turnControlGains": {
"kp": {
"num": [
50,
60,
"Percent$"
],
"den": [
Expand Down Expand Up @@ -69,7 +69,7 @@
"forwardPositionControlGains": {
"kp": {
"num": [
100,
50,
"Percent$"
],
"den": [
Expand Down Expand Up @@ -101,7 +101,7 @@
"turnPositionControlGains": {
"kp": {
"num": [
100,
85,
"Percent$"
],
"den": [
Expand Down Expand Up @@ -133,7 +133,7 @@
"leftControlGains": {
"kp": {
"num": [
30,
50,
"Percent$"
],
"den": [
Expand Down Expand Up @@ -165,7 +165,7 @@
"rightControlGains": {
"kp": {
"num": [
30,
50,
"Percent$"
],
"den": [
Expand Down Expand Up @@ -204,26 +204,16 @@
]
}
},
"agitator": {
"ports": {
"motor": 2
},
"properties": {
"spinSpeed": [
-50,
"Percent$"
]
}
},
"agitator": null,
"camSelect": {
"port": {
"leftCamPort": 5804,
"rightCamPort": 5805,
"driveCamPort": 5803
"driveCamPort": 5811
},
"properties": {
"coprocessorHostname": "10.8.46.19",
"mjpegPath": "/stream.mjpg"
"coprocessorHostname": "10.8.64.20",
"mjpegPath": "/?action=stream"
}
},
"climberPuller": {
Expand All @@ -238,176 +228,38 @@
]
}
},
"collectorElevator": {
"port": {
"motor": 1
},
"properties": {
"collectSpeed": [
100,
"Percent$"
]
}
},
"collectorExtender": {
"port": {
"pneumatic": 3
}
},
"collectorRollers": {
"collectorElevator": null,
"collectorExtender": null,
"collectorRollers": null,
"gearRoller": {
"ports": {
"rollerChannel": 0
"motor": 16
},
"properties": {
"lowRollerSpeedOutput": [
0,
"props": {
"defaultHoldingPower": [
10,
"Percent$"
],
"highRollerSpeedOutput": [
"intakeGearPower": [
100,
"Percent$"
]
}
},
"gearGrabber": {
"port": {
"pneumatic": 1,
"proximitySensor": 0
},
"props": {
"detectingDistance": [
2.2,
"Volts$"
]
}
},
"gearTilter": {
"port": {
"pneumatic": 0
}
},
"shooterFlywheel": {
"ports": {
"leftMotor": 3,
"rightMotor": 4,
"leftHall": 0,
"rightHall": 1
},
"props": {
"maxVelocityLeft": [
6500,
"RevolutionsPerMinute$"
],
"maxVelocityRight": [
6500,
"RevolutionsPerMinute$"
],
"velocityGainsLeft": {
"kp": {
"num": [
100,
"Percent$"
],
"den": [
3000,
"RevolutionsPerMinute$"
]
},
"ki": {
"num": [
0,
"Percent$"
],
"den": [
1000,
"Each$"
]
},
"kd": {
"num": [
0,
"Percent$"
],
"den": [
1000,
"RevolutionsPerMinute$ / s"
]
}
},
"velocityGainsRight": {
"kp": {
"num": [
100,
"Percent$"
],
"den": [
3000,
"RevolutionsPerMinute$"
]
},
"ki": {
"num": [
0,
"Percent$"
],
"den": [
1000,
"Each$"
]
},
"kd": {
"num": [
0,
"Percent$"
],
"den": [
1000,
"RevolutionsPerMinute$ / s"
]
}
},
"lowShootSpeedLeft": [
3650,
"RevolutionsPerMinute$"
],
"lowShootSpeedRight": [
3650,
"RevolutionsPerMinute$"
],
"midShootSpeedLeft": [
3700,
"RevolutionsPerMinute$"
],
"midShootSpeedRight": [
3700,
"RevolutionsPerMinute$"
],
"fastShootSpeedLeft": [
3750,
"RevolutionsPerMinute$"
],
"fastShootSpeedRight": [
3750,
"RevolutionsPerMinute$"
],
"currentLimit": [
50,
"emitGearPower": [
-50,
"Percent$"
],
"speedTolerance": [
75,
"RevolutionsPerMinute$"
"gearDetectionCurrent": [
10,
"Amperes$"
]
}
},
"shooterShifter": {
"ports": {
"pneumatic": 2
}
},
"loadTray": {
"gearTilter": {
"port": {
"pneumatic": 4
"pneumatic": 0
}
}
},
"shooterFlywheel": null,
"shooterShifter": null,
"loadTray": null
}
2 changes: 1 addition & 1 deletion build.sbt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
enablePlugins(FRCPlugin)

organization := "com.lynbrookrobotics"
teamNumber := 846
teamNumber := 864

scalaVersion := "2.12.3"

Expand Down
2 changes: 1 addition & 1 deletion project/Versions.scala
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
object Versions {
val potassiumVersion = "0.1.0-feacaab8"
val potassiumVersion = "0.1.0-2481b217"
}
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