- why dual pid? - current limiting on controller, and positional control with simple PI controller
- where's our intake sensor?
- homing process / auto-correcting belt skips
- ideally move encoder to directly read output shaft
- belt skip doesn't matter
- because it's clearly better
- Less sensitive to gearbox changes
- belt feed and forward intake autostop
- why we didn't use it
- why it worked awesome
- Linking the Shooter with the Intake
- Shooting Prossess
- Feed Forward
- Why it worked well
- Why it didn't
- Motor Slaving
- PID
- Encoder
- Disabling forward velocity on PID to improve efficiency
- PID was awesome, kinda
- need time to tune properly
- needs filtered output; Oscillations burn out motors, gearboxes
- feed forward is necessary for responsiveness
- worked really well for drivers and consistent driving
- Those encoders are just, the worst.
- Gyro was cool, and helpful when it worked
- issues with turning the correct direction
- brownouts are awful, and worse when PID control/gearing is capable of causing it
- auto-shifting + current detection kinda helps
##Vision
- Everything is awful!
- static IPs are absolutely required on everything
- Brownouts on Raspi cause problems
- field lighting is the worst.
- ideally, do more advanced detection of retroreflective based on flashing LEDs and comparing frames
- Make sure tools can rotate camera without incurring delays and problems BEFORE creating fixture to rotate camera
- always update the tools