16169 Banana Box Progress Updates

[Theo-928]

Just finished flashing the OS of the Systemcore. Got onto the drivers hub and RHC2 to see active actuators. Having trouble installing WPILib

[Theo-928]

We are planning to do task 1 this week on a gobilda starter bot

[Theo-928]

My install for WPILib was bad, I reinstalled it and it fixed my issue

[gearsincorg]

If you have issues, and are able to fix then, it might be helpfull to explain what you saw and what you did.

This would potentially help any others that have a simmilar issue, but who don't know what to do to fix it..

Phil.

[Theo-928]

I had been using my school macbook, and it told me that I already had another instance running, so I deleted the installer and re-downloaded it.

[Theo-928]

I got the A301 running using the Rev Hardware Client and noticed that when running, it gets extremely hot; it got to the point where after 2 minutes of running, I got an overheat message, and the motor stalled. This will be an issue for drive bases, as the output rpm shifts the hotter it gets until you get an error.

[gearsincorg]

I'm not sure what you mean that it only goes up to 100 rpm?
Are you just requesting 100 rpm, or is the motor only able to go up to 100 rpm?

A fair comparison would be to run the motor at it's rated max velocity and see if it overheats in the same way.
You should be able to reach the RPM that is printed on the gearbox.

[Theo-928]

I am using the Rev Hardware Client right now and the max velocity that it will let me set it to is 100 rpm.

[jfabellera]

You can change the min and max of the velocity slider in RHC2.

[jfabellera]

Is it still an issue when running in velocity mode? Throttle mode seems to have an issue where the motor is constantly giving super fast reverse voltage spikes, i.e. the motor is basically constantly fighting itself in that mode.

We'll release a patch today that improves throttle mode's current draw.

[Theo-928]

I will test that out when we start using the A301 again; our goal for right now to to get familiar with WPILib and to make a functioning starter robot using the hybrid system.

[Theo-928]

Alright, today we mounted the Systemcore onto a Gobilda starter bot with 2 expansion hubs. We then installed the base program from the examples on WPILib. We noticed an issue where each motor was being set throttle based on 1 axis of the gamepad stick.

I fixed this by going to our sample codes from the FTC SDK and putting them into the sample TeleOp program. I did have to edit the motor names and how to set power, but otherwise it was pretty straightforward.

robot.motor0.setReversed(true);
robot.motor1.setReversed(false);
robot.motor2.setReversed(true);
robot.motor3.setReversed(false);
double max;

        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
        double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
        double lateral =  userControls.getGamepad(0).getLeftX();
        double yaw     =  userControls.getGamepad(0).getRightX();

        double frontLeftPower  = axial + lateral + yaw;
        double frontRightPower = axial - lateral - yaw;
        double backLeftPower   = axial - lateral + yaw;
        double backRightPower  = axial + lateral - yaw;

        max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
        max = Math.max(max, Math.abs(backLeftPower));
        max = Math.max(max, Math.abs(backRightPower));

        if (max > 1.0) {
            frontLeftPower  /= max;
            frontRightPower /= max;
            backLeftPower   /= max;
            backRightPower  /= max;
        }
        
robot.motor0.setThrottle(frontLeftPower);
robot.motor1.setThrottle(frontRightPower);
robot.motor2.setThrottle(backLeftPower);
robot.motor3.setThrottle(backRightPower);
//robot.servo0.setPosition(userControls.getGamepad(0).getLeftTriggerAxis());
//robot.servo1.setPosition(userControls.getGamepad(0).getRightTriggerAxis());

copy_4A27655F-DB16-4FE1-9F46-31938E4B22C8.mov

[Theo-928]

We have successfully gotten the Gobilda starter bot to be fully functional. We have the Systemcore connected to 2 expansion hubs.

public class TeleMode extends PeriodicOpMode {
private final Robot robot;
private final DefaultUserControls userControls;

public TeleMode(Robot robot, DefaultUserControls userControls) {
    this.robot = robot;
    this.userControls = userControls;
  }
    boolean isOn = false;
    boolean isLaunching = false;
  @Override
  public void periodic() {


    robot.motor0.setReversed(true);
    robot.motor1.setReversed(false);
    robot.motor2.setReversed(true);
    robot.motor3.setReversed(false);
    robot.leftFeeder.setReversed(true);
    double max;

    

  

            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
            double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
            double lateral =  userControls.getGamepad(0).getLeftX();
            double yaw     =  userControls.getGamepad(0).getRightX();

            double frontLeftPower  = axial + lateral + yaw;
            double frontRightPower = axial - lateral - yaw;
            double backLeftPower   = axial - lateral + yaw;
            double backRightPower  = axial + lateral - yaw;

            max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
            max = Math.max(max, Math.abs(backLeftPower));
            max = Math.max(max, Math.abs(backRightPower));

            if (max > 1.0) {
                frontLeftPower  /= max;
                frontRightPower /= max;
                backLeftPower   /= max;
                backRightPower  /= max;
            }
            
    robot.motor0.setThrottle(frontLeftPower);
    robot.motor1.setThrottle(frontRightPower);
    robot.motor2.setThrottle(backLeftPower);
    robot.motor3.setThrottle(backRightPower);

  if(userControls.getGamepad(0).getEastFaceButtonPressed()){
    if (isOn == false){
  robot.launcher.setThrottle(0.65);
    isOn = true;
    } else if (isOn == true) {
      robot.launcher.setThrottle(0.0);
      isOn = false;
  }
  }
  if (userControls.getGamepad(0).getSouthFaceButtonPressed()){
    if(isLaunching == false){
robot.leftFeeder.setThrottle(1);
robot.rightFeeder.setThrottle(1);
isLaunching = true;
    } else if (isLaunching == true) {
robot.leftFeeder.setThrottle(0);
robot.rightFeeder.setThrottle(0);
isLaunching = false;
    }
  }
  
  }
}

We did have an issue with the Rio log saying that we are not connected to anything, we still have not found a fix to this. This issue started when we got the system, but we did not thing anything of it. We did learn that even if the rio log says not connected, as long as you are plugged in or connected to the wifi, it will deploy.

[Theo-928]

It has been about a week since I did another progress update. In the last week our team set up the motioncore on our GoBilda starter bot and got an A301 actuator running with the program.

We did have some issues with figuring out how to mount the A301 to GoBuilda parts, we were also wondering what types of bearings can we use for the 15T spline shaft that will mesh with the GoBilda system.

Does anyone know when the GoBilda parts are going to be released for beta test teams to use, because that would be very helpful for us.

[Theo-928]

This is my Robot.java file:

public class Robot extends OpModeRobot {
  public final ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
  public final ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);
  public final ExpansionHubMotor motor2 = new ExpansionHubMotor(0, 2);
  public final ExpansionHubMotor motor3 = new ExpansionHubMotor(0, 3);
  public final ExpansionHubMotor launcher = new ExpansionHubMotor(1, 0);

  public final A301 testbed = new A301(CANBusMap.CAN_D0);


  public final ExpansionHubCRServo rightFeeder = new ExpansionHubCRServo(0, 0);
  public final ExpansionHubCRServo leftFeeder = new ExpansionHubCRServo(1, 0);

  /** Called once at the beginning of the robot program. */
  public Robot() {}
}

And this is my TeleOp:

public class TeleMode extends PeriodicOpMode {
  private final Robot robot;
  private final DefaultUserControls userControls;

  public TeleMode(Robot robot, DefaultUserControls userControls) {
    this.robot = robot;
    this.userControls = userControls;
  }
    boolean isOn = false;
    boolean isLaunching = false;
    boolean testbedOn = false;
  @Override
  public void periodic() {


    robot.motor0.setReversed(true);
    robot.motor1.setReversed(false);
    robot.motor2.setReversed(true);
    robot.motor3.setReversed(false);
    robot.launcher.setReversed(true);
    robot.leftFeeder.setReversed(true);
    double max;

    

  

            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
            double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
            double lateral =  userControls.getGamepad(0).getLeftX();
            double yaw     =  userControls.getGamepad(0).getRightX();

            double frontLeftPower  = axial + lateral + yaw;
            double frontRightPower = axial - lateral - yaw;
            double backLeftPower   = axial - lateral + yaw;
            double backRightPower  = axial + lateral - yaw;

            max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
            max = Math.max(max, Math.abs(backLeftPower));
            max = Math.max(max, Math.abs(backRightPower));

            if (max > 1.0) {
                frontLeftPower  /= max;
                frontRightPower /= max;
                backLeftPower   /= max;
                backRightPower  /= max;
            }
            
    robot.motor0.setThrottle(frontLeftPower);
    robot.motor1.setThrottle(frontRightPower);
    robot.motor2.setThrottle(backLeftPower);
    robot.motor3.setThrottle(backRightPower);

  if(userControls.getGamepad(0).getEastFaceButtonPressed()){
    if (isOn == false){
  robot.launcher.setThrottle(0.835);
    isOn = true;
    } else if (isOn == true) {
      robot.launcher.setThrottle(0.0);
      isOn = false;
  }
  }

  if (userControls.getGamepad(0).getWestFaceButtonPressed()){
    if(testbedOn == false){
      robot.testbed.setVelocity(500);
      testbedOn = true;
    } else if (testbedOn == true){
      robot.testbed.setVelocity(0);
      testbedOn = false;
    }
  }

  if (userControls.getGamepad(0).getSouthFaceButtonPressed()){
    if(isLaunching == false){
robot.leftFeeder.setThrottle(1);
robot.rightFeeder.setThrottle(1);
isLaunching = true;
    } else if (isLaunching == true) {
robot.leftFeeder.setThrottle(0);
robot.rightFeeder.setThrottle(0);
isLaunching = false;
    }
  }

  }
}

[Theo-928]

All of our code can be found here:
GitHub

[gearsincorg]

The standard round 8mm bearing work with the 15T spline.

[Theo-928]

Ok thanks