Build Blog Day 45 (3/8/20)
Assembly
Bumpers
We attached the fabric to the bumper frame and completed trimming it. All that is left is to finalize whether tape will be on the insides.
Climber Spares
We began filing down two sets of climber tube spares and assembled one set.
Programming
Autonomous
We tuned our autos. We worked on the right side 10 ball auto, which grabs 2 balls from the truss, and shoots those along with the 3 pre-loads, and then grabs 5 balls from the trench run and grabs those. We then worked on the left side auto which grabs 2 balls from the trench run, shoots, and then grabs 3-5 balls across the truss and shoots those. Both of these are relatively reliable right now. We also tried a right side auto that attempts to score 8 balls and pre-load 3 for the start of auto, but this was unreliable and didn’t seem worth pursuing (at least for right now).
Superstructure
We restructured our code so that we could vary way more parameters for shooting. We now have a map that varies both shooter RPM and hood angle for 3 point shots.
Limelight
We found some bugs with our Limelight LED controls that need to be fixed ASAP. One such bug is when we were in practice mode, our transition from autonomous to tele-op would turn off the Limelight LED.