Skip to content
This repository has been archived by the owner on Jan 6, 2024. It is now read-only.

Latest commit

 

History

History
82 lines (77 loc) · 3.4 KB

control_schema.md

File metadata and controls

82 lines (77 loc) · 3.4 KB
Raw

Controls Layout / Interface

Types of Inputs

  • [button] - button, active high
  • [switch] - two pole switch, active high
  • [analog] - analog value

Driver

  • [analog] (Left Joystick U-D): Drivetrain Speed (forward/backward)
  • [analog] (Right Joystick L-R): Drivetrain Turn (left/right)
  • [button] (Right Bumper): Drivetrain Crawl Enabled {whenHeld}
  • xxxxx : Drive Train Turbo Enabled {whenHeld}
  • [button] (???) Switch Drive Direction
  • [button] (Left Bumper): Toggle Between Intake Deploy/Stow
  • [analog] (Left Trigger): Intake In & Hopper
  • [analog] (Right Trigger): Intake Out & Hopper

Operator

  • [button] (button 1): Fire Pose {whenHeld}
    • if shooter is not revved up, rev up shooter
    • run intake and hopper
    • advance balls via ballevator into shooter
  • [switch] (button 2): Rev Shooter {whenHeld}
    • use PID and selected set_point
    • else idle shooter at constant preset in code
  • [button] (button 3): Select Field Position full-court {whenPressed}
    • determine set_point for turret rotation
    • determines set_point for shooter speed
  • [button] (button 4): Select Field Position trench {whenPressed}
    • determines set_point for turret rotation
    • determines set_point for shooter speed
  • [button] (button 5): Select Field Position mid-field {whenPressed}
    • determines set_point for turret rotation
    • determines set_point for shooter speed
  • [button] (button 6): Ballevator up {whenHeld}
    • cancels Fire Pose (but leaves shooter running)
    • button 6 & 7 simultaneous cancel
  • [button] (button 7): Ballevator down {whenHeld}
    • cancels Fire Pose (but leaves shooter running)
    • button 6 & 7 simultaneous cancel
  • [button] (buttons 8): Select Turret Orientation back {whenPressed}
    • determines set_point for turret rotation
    • default
  • [button] (button 9): Select Turret Orientation right {whenPressed}
    • determines set_point for turret rotation
  • [button] (button 10) Select Turret Orientation front {whenPressed}
    • determines set_point for turret rotation
  • [analog] (pot 2): Turret fine angle adjustment off of baseline
    • +/- range ~3 degrees
    • funky start enable processing
  • [analog] (pot 3): Shooter RPM fine adjustment off of baseline
    • +/- range ~50 RPM
    • funky start enable processing
  • [button] (buttons 11): Turret jog {whenHeld}
    • clockwise at constant preset in code
    • additive to final turret rotation value
    • stays from one shot sequence to next
  • [button] (button 12): Turret jog {whenHeld}
    • counter-clockwise at constant preset in code
    • additive to final turret rotation value
    • stays from one shot sequence to next
  • [switch] (button 13): Enable vision targeting {whenHeld}
    • enforce turret rotation with limits
  • [button] (button 14): Activate wheel of fortune - Position Control
  • [button] (button 15): Activate wheel of fortune - Rotation Control
  • [button] (button 16): Home Turret {whenPressed}
    • hold control until homed?
  • (button 17): Spare button
  • (button 18): Spare button
  • [button] button 19): Extend Climber {whenPressed}
    • limit by encoder or limit switch
    • speed is constant preset in code
  • [button] (button 20): Retract Climber {whenHeld}
    • speed is constant preset in code

Special

  • When some special combo of buttons is pressed, the climber reverses
  • Final turret position is based on:
    1. turret robot orientation (buttons 9, 10, 11)
    2. field position (buttons 3, 4, 5)
    3. jogs (buttons 11, 12)