Amp Implementation (and many other things)

[alicekuznetsov]

No description provided.

[alicekuznetsov]

@TaylerUva recap of the meeting:
None of this code actually got tested apart from the controller rumble code (unintentionally). We gave the robot to mechanical for a large chunk of the meeting and then got super stumped with why the drivetrain pid wasn't working, playing around with values...

I only realized after i gave mechanical the robot for the night that our trackwidth and wheelbase are totally off (should be fixed in the next push, maybe here or maybe in the auto branch) and I think that might've caused the issue? The PID just felt untunable, and I would think that a config like that could cause it. I'll hopefully be testing it tomorrow morning 🤞

[alicekuznetsov]

(by the way the controller rumble is super cool we should always do this)

[TaylerUva]

I only realized after i gave mechanical the robot for the night that our trackwidth and wheelbase are totally off (should be fixed in the next push, maybe here or maybe in the auto branch) and I think that might've caused the issue?

Ah that makes sense I don't think we set the smaller drive base size. Good catch! Hopefully that's our fix

[TaylerUva]

(by the way the controller rumble is super cool we should always do this)

Maybe we should also add rumble to driver controller once note has been picked up so they know they can drive away? 🤔

[alicekuznetsov]

@TaylerUva it no work :((( i actually dont know why

[alicekuznetsov]

@TaylerUva this is the code last running on the bot. lets get it merged in surely!
Also, I talked to a few other teams, and it does sound like a hardware issue on our drivetrain- but I do agree that we need to make sure that we have backwards sub, a climb, our controller mappings, and basic autos (if possible) before we even consider addressing it again. I'd lean towards it being an issue with the one module that we saw wasn't slowing down but it could be anything 🤷‍♂️

One thing we could test (when the time comes) is putting it on a cart and physically turning it to the correct degree setpoint to see if the motors continue spinning with no load; not quite sure what that would tell us but it removes variables like robot weight distribution

[TaylerUva]

@Alenguye582 @ACat701 Left some comments as FYIs no changes needed for this PR. Approved!