Competition Week 3

Week 10 (3/12 - 3/18)

Assembly

3/13 Monday

Pack for LAR

• Explained packing lists & BOMs

Batteries

• Members finished battery leads

• Testing in progress

Sensors electrical

Allen Wrenches Sizes Review

Vp gearbox review

Fixed bumpers

Laser cutting procedure

CAD

3/13

In order to improve our strategy and help scout teams for alliances, we held a strategy meeting and created a strategy cheat sheet to help our members efficiently scout during our regionals.

Manufacturing

Programming

Vision Group

We changed our code structure for vision autos so that they were split up into smaller parts. We also changed the deadband for vision which uses speed.

if (NerdyMath.inRange(xSpeed, -.1, .1) &&
    NerdyMath.inRange(ySpeed, -.1, .1) &&
    NerdyMath.inRange(rotationSpeed, -.1, .1))
    {
        chassisSpeeds = new ChassisSpeeds(0, 0, 0);
        SwerveModuleState[] moduleStates = SwerveDriveConstants.kDriveKinematics.toSwerveModuleStates(chassisSpeeds);
        drivetrain.setModuleStates(moduleStates);
        currentCameraMode = CAMERA_MODE.ARRIVED; 
    }
    else{
        chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rotationSpeed);
        SwerveModuleState[] moduleStates = SwerveDriveConstants.kDriveKinematics.toSwerveModuleStates(chassisSpeeds);
        drivetrain.setModuleStates(moduleStates);
        currentCameraMode = CAMERA_MODE.ACTION;
    }