I have 3 things that I would like to see done this offseason. they range from stuff that will take one hour, to one day, to a couple of weeks. 

1. Vacuum the carpets.
The carpets have gotten very dirty over this season and it is something that we can do reasonably quickly. 

2. Use trig for our auto-shoot instead of tuning. 
This means using trig to find the right angle for our tilt instead of tuning. This is highly theoretical because the farther we get out, the less accurate our apriltag data will be, but it would be cool to try. 

3. Try an under-the-bumper intake model on our practice bot. 
This may be impractical and is also something that mechanical would have to do and not us, but the over-the-bumper strategy that we have been using is very slow and power-heavy, possibly contributing to our lower-than-competition cycle times, which may have even caused us to not get picked. During the season, this would have been a huge change to make and we had to move forward with our design, we should not regret anything, but now in the offseason we have time and I would like to see how that plays out. I think the best way to do this is to make the updown arm lower in the drivebase and fixed upright, and then tilt the tilt almost upright to intake. Then we could make a new prototype bumper. I think that this could make our robot even more competitive in the offseason and cut down our cycle times. 

• Figure out why the software for mirroring automodes from the blue to red side was producing inaccurate results (I believe we have a workaround solution in place right now)
  
• Replace Butch's code with ours by completing the coding assignments we were given at the start of this season
  

• Upgrade Limelight to latest firmware.
  
• Migrate from parsing JSON to using LimelightHelpers class to get Limelight data.
  
• Switch to using Megatag2.
  
• Evaluate pose accurate especially when gyro pose initially incorrect.
  

This season has convinced me that we need to revamp our software strategy.  We have our own framework and many of our own tools.  This was necessary when they were created because these things did not exist from other sources.  The problem we have now is with our own framework, many of the things being provided by first and WPILIB as well as by other teams does not work with our framework.
 
So, I think its time to shift to the CMD framework from WPILIB.
 
So here is what I want the software students (except our senior Ashlie) to work on.

1. Be sure you have a computer you can work on.  If you have a laptop great.  If you do not, let me know and lets figure something out.  It is important for software to put in time outside of the meetings if you want to really be able to write robot code.
   
2. Ensure you have the WPILIB tools installed on your laptop.
   
3. Using the WPILIB provided VS Code, create a template/Java/Command Robot
   
4. Modify the ExampleSubsystem to include just one of the shooter wheels.
   
5. Modify the ExampleCommand to turn this shooter wheel at N revolutions per second.
   
6. Create and automode that turns the shooter wheel at 20 RPS for 5 seconds , then pauses for 5 seconds and then turns the wheels, then turns the shooter wheels for 5 seconds
   

Convert from our own framework to the WPILIB CMD based framework.  This allows us to reuse a lot of things that are avaiable from other teams and companies easily without adapting these things to our framework.

https://docs.wpilib.org/en/stable/docs/s...index.html

2022 simple auto mode

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2022 robot collecting and shooting

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Balance Auto mode

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More two cone auto

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Two cone automode

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  IMG_1050.MOV (Size: 17.52 MB / Downloads: 2)