2023_10_17 - Dutton-Christian-Robotics/Learning-to-Code GitHub Wiki

Review

• Kahoot!

Turning Point

• Conflicting responsibilities from this point on: teaching programming, but also making sure the real robot gets programmed

Review Concepts

• DRY
• Separation of Concerns
  • our opmode is doing two things right now: explaining a robot and using a robot
  • split those two things up and put robot in another class

Activities

• Question: how can we make DRY robot EVEN drier?
  • What is getting repeated most in our robot class?
• Copy over Dryer robot
• Copy Basic Driver Controlled
• Explain opModeIsActive
• Explain if / else if / else
• Focus on need for "else"
  • Otherwise it can't stop!

Concepts

• Weaknesses in our current TeleOp
  • Only drive at one speed
    • We have analog controls. Should be able to specify power.
    • We'll solve this one first
  • Each action "blocks" controls

Activities

• Copy over PowerRatioRobot
  • Method overloading
• Copy over BetterDriverControlledOpMode
  • Math.abs

Concepts

• Right now we're not using our holonomic drivetrain to its fullest
  • We've been using "simple" motion in one degree of freedom at a time
  • We can create "complex" motion by combining movement in each direction.
• Considerations
  • For any motion, ask how much of it is F/R, L/R, and turning
  • Need to choose numbers to represent each direction within a direction
  • Combine powers with math; how to handle numbers greater than 1?

Activities

• Copy over ComplexDriveRobot
• Copy over ComplexDriveRobot
  • Marvel at how DRY it is!

Concepts

• Other improvements we could make to driver control
  • Attenuate analog controls so little pushes don't register