Implement Climber Rev 2

[stulewin]

Implement the climber for second competition. Design and notes will follow for the record.

[stulewin]

(1) Button on Operator Gamepad

• Play button
• whenHeld() so that it only executes when pressed
• boolean on dashboard)

(2) Starting

• Use rough match time before enabling hanging sequencing (prevent hitting button by mistake during match)?
• Tunable parameter but 40 seconds to start (boolean on dashboard)
• Driver gamepad pad uses same button as one-shot "enable" (boolean on dashboard)

(2) Pose?

• Needs to keep state between
  • Use a static which gets initialized at start of end game)
• Maybe multiple poses - one for each bar? Although they are the same action?
  • Have multiple unique poses but for now can be derived classes

(3) New Sensor

• Ultrasonic (WallDistanceSensor)
• Enable only at start
• Calibrate for distance
• Add to telemetry and dashboard

(4) Climber Subsystem

• Add motors x 2 (assume left and right?)
  • One for 'elbow' ("lift")
  • One for 'shoulder' ("extend")
  • Reverse one of them so that sense of direction is the same
  • Need to be 'brake' mode so hold
• No pneumatics for latching (purely passive)

(5) Drive Commands

• Need to get DriveToDistanceBySensor or DriveToDistanceBy???? so that more exact
• Use gyro to recognize if caught on bar (and lifted ... roll? pitch? yaw?)
• Time (so delayed start or speed) needs to allow ClimberExtendLevel2 to be at right height before reaching level 2 bar
• Use gyro to recognize if hanging before distance stop and interrupt drive command

(7) Turret

• Do we need to have a home (or known position) shooter so we ensure that it's right configuration?
• Add to original Parallel command sequence

(8) Command Sequence
Parallel( Sequential( IntakePullIn, IntakeDoNothing ), IncrementerDoNothing, ElevatorDoNothing, ShooterDoNothing )
Sequential( Parallel( DriveXxxxxDistance, ClimberExtendLevel2 ), DriveJoystickControl )
Sequential( ClimberLift, ClimberLatch )
Sequential( ClimberExtendNext, ClimberLift, ClimberLatch )
Sequential( ClimberExtendNext, ClimberLift, ClimberLatch )
ClimberHang

(9) Add tab to dashboard for Hanging?

• Active Commands
• Key items from climber, pneumatics, wall distance sensor,

(9) New multi-line textbox for command sequencing?

• Used to be able to do it for old dashboard?
• May need to manually sequence (use circular buffer approach - pop in top and age out bottom)
• Can disable this when really connected to the field

(10) Have sequencing watch match time and stop if not enough time to finish next objective?

• Will know how long it takes to advance to next bar
• Prevent robot from falling or hurting something

(11) Mini-State Machine

• Need to keep track of where robot is in command sequence, so that when button released and re-pressed, it starts from where it left off.