Meeting Log 11/19Tags: journal
Task: Drive Practice and Improving Code
Today, we spent time improving upon the code by fixing the odometry and fine tuning it, along with doing some much needed drive practice.
We fine tuned the PID and speed, as well as the pickup and drop speed and staging. We also fixed the odometry, which calculates the position of the robot based on how many times the wheels have turned. We changed the staging of the crane memory system to be more accurate and fix the angle of the shoulder before it extends, so it won't hit the poles or cone stacks when changing position.
Our drive team ran practice matches to improve precision and accuracy while also scoring as many cones as possible. We focused on picking up cones from a long distance, utilizing our crane's reach and scoring from afar. The arm tended to overshoot when fully extended, making it more difficult to score, so our drivers had to practice taking this into account when aligning the crane and turret with the cone and poles for pickup and scoring.
We need to finish our auton code so the robot will pickup and score cones from the cone stacks and drop them onto poles during the auton period. We also want to finish and tune code for grid drive. And, of course, more drive practice!