Robotics Build Day 31 (2/21/20)
Programming
Updating Firmware
We updated all the software (new TalonFX firmware, Phoenix Tuner/API, and WPILib version) on practice bot, as well as all the driver stations.
WOF Code
We continued to try to figure out why we weren’t receiving any values when the color sensor was connected to the multiplexer. We looked at another team’s code which was written in C++ and tried to find the difference between ours and theirs. We also looked into possibly using incorrect device addresses or writing incorrect values to the multiplexer.. We will continue to explore possible issues on Saturday.
Superstructure Code
We did some intake testing to help the design team test and iterate through some design ideas. We also wrote the majority of the superstructure state machine, but did not have ample time to test and debug it, so will do that tomorrow.
AssemblyComp
Shooter/Turret Assembly
We made a few changes to the polycarbonate deck, and then cut one for comp. We also cut the new limelight mount and added the limelight to comp. Then we bonded the roller hubs to the rollers, which will need to cure for 24 hours.
Climber Assembly
We assembled the climber tubes with the 3-D printed parts and compression spring to verify that the whole assembly worked.
WOF Assembly
Today, we received the correctly sized tensioning member. We were able to confirm that the tensioning member stops the WOF mechanism at the correct height. We also routed the wires for the color sensors through the assembly. We made a new revision for the top block to assist with the wire routing.
Comp Wiring
We worked on wiring the shooter and turret. We routed the wires through the bigus and added pigtails to connect them to the PDP. Wiring for all of the shooter motors, hall sensor, and limelight is complete, but we still need to wire the turret motor.
Manufacturing
We finished making the winch drums for the climber and the new intake plates and began detabbing the brake mounts.