Java Basics
This operator checks if a condition is NOT true.
!
What type of file is Elevator?
Subsystem
This happens if your P value is too high.
Oscillation/Jittering
What are the two motors on a swerve module?
Drive and Steer
Why did we use vision this season?
To align accurately with the branches on the reef because it needs precise alignment.
You call this to create a new object.
Constructor
What method runs once at the start of a command before any action is done?
initialize()
What are the three constants we give to MotionMagic to control our mechanisms?
Name 2 things that the robot uses to track odometry.
Gyroscope, wheel encoders, vision
Which axis do TX, TY, and TA refer to (in relation to the Limelight)?
TX = left/right, TY = up/down, TA = forward/backward
What is the difference between declaring and initializing a variable?
Declaring means stating its type and name and just saying it exists. Initializing assings the variable a value.
Name 2 libraries that we import code from.
PathPlannerLib, CTRE, WPILib, REV
What PID constant should you modify if the mechanism is taking a really long time to settle at its target position?
kD - combats oscillation, also reduces the time it takes for kI to reduce the steady state error
What do we create in RobotContainer to call commands in auto?
What is the Limelight’s position to the AprilTag when TX = -30 degrees and TY = 5 degrees?
30 degrees to the left, 5 degrees above
What is the difference between a for and a while loop?
A for loop runs for a specific number of iterations. A while loop runs until the condition is false.
What is the difference between a SequentialCommandGroup and a ParallelCommandGroup?
Sequential - commands run one after another
Parallel - commands run at the same time
How is MotionMagic different from traditional motion profiles?
sets trajectory for us, super easy
What is the first thing that we tune for swerve PID and what does it mean?
kS - static velocity
Odometry is relative to the starting position; it builds up error over time. Localization corrects the error using external sensors like LL.
What is the difference between a field and a parameter?
A parameter is a variable passed into a method or constructor and exists only while the method runs, whereas a field is a variable that belongs to an object and exists as long as the object exists.
Why do we need addRequirements() in a command file?
It tells the compiler which subsystem the command uses so other commands can't use the same subsystem at the same time.
How can we use MotionMagic to combat external factors that affect the movement of our mechanisms?
use jerk (combats gravity, weight)
What is kinematics?
Convert the desired overall robot velocity into individual module speeds and angles or vice versa
Explain how we use PID control and Limelight to align with the reef. (Hint: think about which LL value we use?)
Correct the TX error proportionally using kP