Autonomous Driving Plan - KentridgeRobotics/2021Robot GitHub Wiki

Verify that the gyroscope and encoders work through in-person testing
Make sure AutoDriveLinear.java works with simulation or in-person testing
Write code for AutoTurnStationary.java. Also test in-person or simulate it
Create and schedule command groups that use AutoDriveLinear and AutoTurnStationary to follow each path in the Galactic Search and AutoNav Challenge
For the Galactic Search Challenge commands, add ChomperCalibrateCommand, ChomperPIDCommand, and ChomperIntakeCommand to pick up the balls

Add a simulated drivetrain model to DriveSubsystem using DifferentialDrivetrainSim -Feb 6
In Constants.java, add constants for the physical measurements of the robot and pass them into the constructor for DifferentialDrivetrainSim. The measurements needed are here. Will have to ask manufacturing for some of the measurements. -Feb 6
Add simulated hardware into DriveSubsystem such as EncoderSim and maybe AnalogGyroSim -Feb 6
Add code to update the simulated sensor readings -Feb 7
Update the robot's pose and odometry in a regular periodic() method. This includes adding a Field2D object -Feb 10
Use Pathweaver to generate trajectories for the Galactic Search and AutoNav challenges -Feb 13
Add the Pathweaver JSON files to the simulation -Feb 15
Test and fine-tune the trajectories -Feb 16
Run the Robot Characterization Tool with the robot -Feb 17
Enter the numbers from the numbers calculated from the tool into Constants.java -Feb 18
Adjust the DriveSubsystem to add odometry and voltage-based drive methods -Feb 18
Write an autonomous command using a RamseteCommand -Feb 18

Documentation about trajectories here. For simulating trajectories look here

Documentation for drivetrain simulation here