control_schema.md

Controls Layout / Interface

Types of Inputs

• [button] - button, active high
• [analog] - analog value

Driver

• [analog] (Left Joystick U-D): Drivetrain Speed (forward/backward)
• [analog] (Right Joystick L-R): Drivetrain Turn (left/right)
• [button] (Right Bumper): Drivetrain Crawl Enabled {whenHeld}
• [button] (Left Bumper): Drive Train Turbo Enabled {whenHeld}~~
• [button] (Back Button) Switch Drive Direction
• [analog] (Left Trigger): Intake In
• [analog] (Right Trigger): Intake Out

Operator

Fire

• [button] (Green #1): Fire Pose {whenHeld}
  • if shooter is not revved up, rev up shooter
  • run intake and hopper
  • advance balls via ballevator into shooter

Vision

• [button] (Right Bumper #6): Enable vision targetting {whenHeld}
  • enforce turret rotation with limits

Shooter

• [button] (Red #2): Rev Shooter {whenHeld}
  • use PID and selected set_point
  • else idle shooter at constant preset in code
• [button] (POV Up 0): Shooter RPM fine adjustment off of baseline
• [button] (POV Down 180): Shooter RPM fine adjustment off of baseline
  • +/- range ~50 RPM
  • funky start enable processing

Turret

• [button] (Start #8): Home Turret {whenPressed}
  • hold control until homed?
• [button] (POV Left 270): Turret fine angle adjustment off of baseline
• [button] (POV Right 90): Turret fine angle adjustment off of baseline
  • +/- range ~3 degrees
  • funky start enable processing
• [analog] (Left Trigger #2): Turret jog {whenHeld}
  • counter-clockwise at constant preset in code
  • additive to final turret rotation value
  • stays from one shot sequence to next
• [analog] (Right Trigger #3): Turret jog {whenHeld}
  • clockwise at constant preset in code
  • additive to final turret rotation value
  • stays from one shot sequence to next

Elevator

• [analog] (Left Joystick U-D): Elevator Speed (up/down)

  • cancels Fire Pose (but leaves shooter running)

• [button] (??????): Extend Climber {whenPressed}

  • limit by encoder or limit switch
  • speed is constant preset in code

• [button] (??????): Retract Climber {whenHeld}

  • speed is constant preset in code

Special

• When some special combo of buttons is pressed, the climber reverses
• Final turret position is based on:
  1. turret robot orientation (buttons 9, 10, 11)
  2. field position (buttons 3, 4, 5)
  3. jogs (buttons 11, 12)