TODO:

Alpha bot:

• Test swerve drive
• Test turret function
• Tune slippage current
• Test cameras & filters
• Test intake command
• Test wrist CANCoder offset
• Tune elevator
• Test pivot gravity gains
• Remove voltage constraints if everything works
• Test manual controls
• Test presets
• Swerve automation pt. 1 - rotational alignment

Friday, 2/14/2025 to test:

• Retune wrist feedforward + feedback
• Wrist presets + tuning
• Pivot cancoder issues
• Decide on L1 position
• Tune Canandcolor for intake (coral)
• Elevator limit switch

Friday, 2/14/2025 software only:

• Driver only - work on OnFalse triggers instead of OnTrue because of debounce hold to pathfind/direct move to position then OnFalse will subsequently deploy the state properly and effectively
• Double click debouncer
• Move to algae vs coral (drive to object overhaul)
• Swerve automation pt. 2 - pathfinding/translation alignment

Saturday, 2/15/2025 to test:

• Test robot state chooser

Saturday, 2/15/2025 software only:

• Auto - java structure (chooser), paths (pathmanager), commands

Tuesday, Wednesday, 2/18-19/2025 to test:

• Fix pivot cancoder issues
• Reconfigure wrist cancoder
• Redo wrist presets as needed
• Fast wrist
• Intake
• Test localization trust filter & cameras
• change tolerances and pids and retest pathfinding to reef (try no pid but constant slow velocity)
• Test multiple chooser
• Preliminary auto things

Tuesday, 2/18/2025 software only:

• finish paths
• check for correct event markers & tune locations of each marker
• perfect/tune the control points (consistent in transitioning between paths)
• coral station optimization

Saturday, 2/22/2025 to test:

• test updated keybinds for mishiwaka
• discuss two options for reef translation auto-align - driver does it while true (pov) or operator does it (more complicated)

Tuesday, 2/25/2025 to test:

• tune max tag clear dist
• test new single tag pose (need to zero properly first)
• tune max tag clear dist for above single tag pose calculation
• (try for comp bot)
• auto
  • try not corner of the coral station
  • try cameras looking forward

Thursday, 2/27/2025 to test:

• try updating pivot G gains
• auto
  • new camera mounts on
  • try slower rotation and faster linear acceleration
• climb subsystem
  • climb presets

INMIS:

• auto
  • try variety of paths
• test climb subsystem more

Monday, 3/04/2025 software only:

• new spherical pathing for pathfinding to branch

Comp bot/later:

• Re-add automatic intake logic
• Tune Canandcolor for algae intake
• Implement climbing
• SysID for elevator, pivot, wrist comp bot
• Fine tune state transitions for efficiency
• Test ground intake/object detection (after mishiwaka)

Saturday, 3/29/2025 software: comp bot:

• distance sensor + software implementation
• more efficient dependent pathfinding
• camera sensing vs. distance sensor via boolean trustCameras for coral obstruction

ground intake:

• ground intake motor setup + logic revamp
• pathing to coral

Saturday, 3/29/2025 to test: comp bot:

• test scoring
• test bugfix for mid-stow bug going into teleop

Sunday, 3/30/2025 software: ground intake:

• clarify algae intake sensor
• fix command to direct drive to note and consider making an automation class for compiling path finding to certain locations and searching for coral
• revamp pathfinding location
• double-sided reef outtake
• revamp/fix auto
• (if possible) algae intake
• implement independent system in the case of camera failure that utilizes the canandcolor proximity sensor to adapt to coral obstruction (boolean trustCameras in Localizer.java)

Monday, 3/31/2025 to test: comp bot:

• test proximity threshold network table entry, intake stuck
• try high I without the tension
• test dynamic autos (intake stuck/incorrect intake)
• test/configure distance sensor

ground intake:

• (once assembled) ground intake motor setup + logic revamp
• test pathfinding locations and auto scoring
• test auto (with dynamic if possible)
• (if possible) test algae net and processor scoring