MilkenKnights-DeepSpace

Intellij

• Before opening the project with IntelliJ, run ./gradlew idea in Terminal or gradlew idea in Command Prompt. This will generate IDE files for IntelliJ IDEA (Java).

• Double click MilkenKnights-DeepSpace.ipr or File - Open Project in IntelliJ IDEA.

• Click import gradle configuration and select auto-import. Make sure that the Java JDK is version 11 or higher. Wait for the build process to finish.

Driver Button Map

• Left Trigger Reverse

• Right Trigger Forward

• Left Stick (X axis) Turn

• A Vision Hatch Outtake

• B Vision HP Intake

• X Vision Cargo Outtake

• Y Auto Climb

• Left Bumper Vision Auto-aim On

• Right Bumper Vision Auto-aim Off

Operator Button Map

• 1 (Trigger) Toggle Manual Ground Hatch Open Loop

• 2 (Thumb Button) Toggle Manual Cargo Arm Open Loop

• 3 Hatch Spear Toggle

• 4 Hatch Spear HP Intake (Limit Switch Enabled)

• 5 Roller Intake

• 6 Roller Outtake

• 7 Toggle Front Climb Actuators

• 8 Toggle Rear Climb Actuators

• 9 Defense Mode

• 10 Zero Cargo Arm & Disable Soft Limits

• 11 Front Cargoship Roller Outtake

• 12 Retract Spear Pancake Actuator

• POV UP Cargo Rocket Level One

• POV DOWN Cargo Rocket Level Two

• POV LEFT Cargo Intake Setpoint

• POV RIGHT Cargo Reverse Cargoship

Things to check when having issues

• CAN Bus Utilization

• TODO Items

• Loop Times

• Phoenix Tuner

  • Self-test device

    • Ensure Limit Switches are in correct state

    • Ensure correct sensor is selected and reports the correct values

    • Throttle motor controller to verify that it's working

• All CAN devices are up-to-date

• CTRE Phoenix & WPILIB are updated

Robot Hardware

• Drive
  • Two CIM Motors on each side
  • One SRX Mag Encoder on each side
• Spear Arm
  • Single Solenoid to stow/lower the spear
  • Single Solenoid to retract/extend pancake actuator
  • REV Magnetic Limit Switch connected to CTRE Breakout board
• Cargo Arm
  • Two 775 pro motors
  • SRX Mag Encoder
  • REV Magnetic Limit Switch connected to CTRE Breakout board
• Vision
  • Fisheye camera connected to the Rio on the hatch side
  • Limelight V1 on the hatch side
  • Microsoft Lifecam on the cargo arm side connected to the Limelight
• Misc
  • Pigeon IMU connected to Talon SRX over ribbon cable
  • Four Actuators connected to two single solenoids (left/right linked) for Level 2 Climb

Current Paths

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