These last two days (and whatever time we have left tomorrow) we’ve really focused on ironing out the little kinks we have to get right for this next regional. Most of it comes down to our shooting and the software that goes behind it. So far, we’ve been able to change to PID on our shooter wheels, which will stay at a constant speed to avoid variability in various balls. We’ve also added PID on our position macros for the tube. This will let the tube position more accurately, which should provide us with much more accurate shooting. This should all add up to us being able to have a consistent speed on the shooter wheels that is independent of battery voltage and also have a consistently accurate macro for the various shooting positions on the field.
Software has also worked a bit (and will hopefully finish tuning tomorrow) on our limelight drivetrain adjustment. It still swings a bit around the center of the target but it is more like a jitter right now than a swinging. The way it is now will greatly help the driver but software should be able to finish testing tomorrow and both get the shooting macros perfectly calibrated and get our limelight alignment to work.
If all goes well and we have time, a timer-based (yes we know it’s the worst way to do autonomous but right now we don’t have a lot of other options) 6-ball auto will be tested and, if it’s close to completion, perfected.
As long as these adjustments work at the competition the same way they have worked on our field, we should be able to spend all of Thursday practicing. As long as our cycle times get slightly faster (or even stay the same) and we are able to actually make the shots we shoot, we should be able to rank close to first or even first at this next competition. If we play our cards right and hope for a bit of luck, this could be our ticket to worlds.
Team 2658 Blog 