DriveStraight (Encoder)

Project Goal

The goal of this project is to make a Combine program specifically for the shuttle drill that will assist or completely perform the actions that a regular driver would.

Considerations

• We have CL control available in a very rough and basic form from Mechatronics with Dr. Funke
  Link: https://drive.google.com/drive/folders/1DJQNfQaiD1RDpLIgE63Gqkf9GAiqQY4K?usp=sharing

• There should be a way to increase or decrease the aggressiveness of the acceleration value because this will only work as long as the wheels do not slip.
  (We want the program to ride this line of accelerating fast but not too fast.)

• The control loop should handle everything in terms of velocity until it achieves positional targets, then send velocity towards zero.

• Program the controller so that it doesn’t let the wheel counts differ by more than some defined constant so that we don’t veer too far off of target.

Program Stages and Targets

• This is a macro, so start once button is pressed.
• Set current position and count to 0.
• Set target to a value in front of the robot.
• Run until robot achieves that position.
• Set position to a position twice as far behind the robot.
• Run until robot achieves that position.
• Set position to zero.
• Run until robot achieves that position.
• Exit.

MVP Goal

Minimize the amount of time it takes to complete the Shuttle Run, and minimize the contact with cones along the path of travel.

When complete, transition into final DriveStraight Implementation.

Subtasks

• Integrate encoders with program to record current motor RPM
• Implement Funke's velocity control algorithm
• Tune Values for velocity control until it seems good enough
• Add the ability to tune acceleration aggressiveness with a constant
• Add the ability to run the program until a certain value is achieved
• Tune PID values and acceleration aggressiveness until it drives straight
• Add the backwards driving function and repeat testing
• Implement full program and tune distances to achieve good times in the combine

The issue does not name files, tests, or entry points. Start by locating the encoder integration and velocity-control code, then review how motor positions, RPM, PID values, and macros are currently handled. Done means the listed stages and subtasks are implemented and the shuttle run meets the stated speed and cone-contact goals.