Steps from 5th at Ventura to FIRST™ AT SDR!!

[GalexY727]

I'll get right to the point. Feel free to edit this message and add more if you have other ideas

This list is in order.

Pre V3 (Should be done by 3/17/24 at 9pm)

• Accurate vision
• Accurate swerve odometry
• Tuned STD for pose estimator
• Tune swerve driving motor PID
• Tuned HDC
• Use color sensor to have the best intake in town
• Shoot your shot!
• 2056 Climb
• Proxy takeover
• W3-1
• Automatic shooter speeds
• [Bug] colorSensor doesn't allow to force intake to go into shooter #253
• Stress test color sensor (try to get it to accidentally put note in shooter)
• W3-1 C2-3
• P C1-3
• Obj detection for center autos
• Disruption auto 😔
• Refine chase note to transition smoother

Auto Experiments (we don't really need a shooter for this part)

• Make semi-irregular patterns of notes on the centerline intake 100% consistently with object detection
• Minimize stopping between pathfinding steps for more speed (hard requirement game)
• Add offsets for the note-searching positions based on incoming angle to hopefully see faster
• Make very irregular patterns of notes on the centerline intake 100% consistently with object detection (hard)
  • this comes down to maybe having some sort of recursion which tracks the amount of notes seen and keeps going until it has gotten a certain amount
  • an easy solution to this is to have autos which, if doing C1-3, for example, does C1-3 OBJ and then C3-1 OBJ to keep searching in case it missed anything

Post V3 (new shooter & ampper cuz we ain't trapping 💀)

• Tune pivot PID
• Tune shooter PID
• Make sure the note can toggle between indexer and trapper without problems
• Tune for best position to place amp
  • Should we move the elevator up while it outakes? could be bad or good... just use operator override to test
• Check if we need to stow the pivot when we intake notes
  • Beat the requirement game and have the shooter wheels get up to speed for SWD but let the pivot break off from the group and stow if it needs to do that to get the note from the intake
  • maybe have it cache the previous desired angle, stow, and restore the previous desired angle once finished (color sensor)?
• Make podium preset
• Make subwoofer preset
• Tune interpolation map
• Should we rename trapper to ampper?