Changelog based on what we do, but some of it may have to come from git commit history.
- Added a wrist subsystem, move to position command and integrated them into robot container.
- Still need to find a button for move to coral loading position.
- Changed the algae back to 9 gear ratio after replacing motor
- Changed the auto detract the arm code to decrement it 1 inch in setpoint every pass it is
- outside the max boundary, rather than leaving the setpoint alone and sending the reference to 0.
- Changed the L1 extend setpoint to not be outside the 18"
- Corrected the Arm rotation incremental ramping code when the y-axis is forward or reversed.
- Fixed the 'keep the arm inside the 18" limit' code. (still has a in and out osilation to fix)
- Changed the Algae gear ratio to 81, but believe we have a bad NEO so will likely go back to 9.
- Changed the Y axis from an instantcommand to a runcommand. Before, the result was Y axis forward and arm went to full out.
- Tested the chain likely jumped method. Seems to work, so implemented it to reset the elevator to zero position when it detects stall.
- Added a slow multiplier button for the driver joystick using trigger 1.
- Altered the debug level code so it includes current subsystems and added conditional statements
- Added a calculation for Elevator is stalled due to chain sproket slip.
- Added some periodic code in the Elevator/Arm subsystem to hold the arm rotate and retract the arm if the arm is near outside the frame.
- Changed the arm rotate increment decrement with a pulse of the Y axis to a while the Y axis forward then ramp out, and while Y axis reverse, then ramp back
- Removed the calling of the code to set the PID setpoints at teleop start.
- Added code to call Stop on the PID ramps at disabled init.
- Added sequential sequences for more arm/elevator actions.
- Adjusted the algae out of the way for arm rotate setpoint
- Added an Elevator/Arm return to home sequence
- Added some auto trajectories and some implementation in drivetrain.
- Alan adjusted LED to flash once on robot boot
- Applied PID ramp to 4 position regulators
- Fixed the swerve turn initial position reset off absolute encoder code.
- Adjust more PIDs (algae and arm rotate)
- Adjust CAN IDs
- Added in some Limelight 3G vision code... Will it work? Probably not. Will we use it? No clue, but it's there.
- Nothing crashes in simulation!
- Tuned the PID for the elevator & the extending arm (i.e., the elevator goes up/down & the arm goes in/out)
- Changed the way some buttons on the Operator controller fire commands
- Fix some errors with position feedback scaling
- Added a method in Robot to get the Util.Color based on the current DS alliance.
- Moved some constants from Interference class to Constants classes
- changed the operator control from XBox to Joystick - button mappings in Google Drive Spreadsheet under technical
- Added some methods that are not implemented for moving to L4 - L1. I think these need to be a sequence that keeps the robot from tearing itself up.
- Added a Hold Game piece position for Algae arm.
- Added Interference helper for elevator/arm/intake
- Fixed a null "pointer" discovered while using simgui
- Build successful, more simulation to be done later
- We may replace operator Xbox controller with a Joystick
- LED code works properly
- Some Algae intake added / worked on
- Add commands & button mappings for elevator, arm, and intake (lots of code)
- Add logging
- Add CameraServer
- Remove unread variables in SwerveModule
- Remove the DriveTrainInterface
- Move Constants out of Subsystems, since it's not a subsystem
- Move SwerveModule into new
libfolder, since it is also not a subsystem - Removed duplicate 2π in Util.Conversions
- Make some formatting changes
- Add the TeleopSwerve default driving command
- Fix some non-instantiated things
- More work on the LED system, which don't work as intended
- Build Successfule
- Move some constants around
- Update CAN IDs
- some debugging (which was not removed before commit)
- Add LED subsystem for an led "status" strip
- Added the claw motor to the Elevator & Arm subsystem
- Added a check for high current use on the claw, which activates green LEDs
- All of this still needs to be tested
- Build Successful
- Import initial drivetrain code (25 errors, 2 warnings) - subsystem, interface, swerve modules
- Import some old code as well (would like to get rid of old stuff if possible)
- Install dependencies
- Build Failed
- Fix name errors (
Subsystems->subsystems) - Remove unused imports
- Change return types for drive methods in drivetrain (now they return themselves)
- Almost completely reworked the drivetrain subsystem (got rid of the errors and warnings)
- Almost completely redid the Swerve Module (based on my previous code, 9 problems are unused fields + 1 is unused import)
- Build Successful
- I decided to add this changelog
- I added a symlink LICENSE -> WPILib-License.md
- Supressed a warning (unued field) & removed unused import.
- Project started from scratch
- Map buttons
- Create Arm & Elevator subsystem