# FRC 程式組 2022 賽季前一周清點項目
###### tags: `程式組公告`

## Drive train

### A 方案

目前機械組準備重做底盤，讓我們再繼續測試。Aaron 可以繼續準備 `MecanumControllerCommand`。

MecanumControllerCommand mecanumControllerCommand = new MecanumControllerCommand(
                    testTrajectory,
                    m_robotDrive::getPose,
                    DriveConstants.kFeedforward,
                    DriveConstants.kDriveKinematics,
                    // Position contollers
                    new PIDController(AutoConstants.kPXController, 0.2, 0.3),
                    new PIDController(AutoConstants.kPYController, 0.2, 0.3),
                    // new PIDController(AutoConstants.kPXController, 0.5, 0.35),
                    // new PIDController(AutoConstants.kPYController, 0.5, 0.35),
                    new ProfiledPIDController(
                            AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints),

                    // Needed for normalizing wheel speeds
                    AutoConstants.kMaxSpeedMetersPerSecond,

                    // Velocity PID's
                    new PIDController(DriveConstants.kPFrontLeftVel, 0, 0),
                    new PIDController(DriveConstants.kPRearLeftVel, 0, 0),
                    new PIDController(DriveConstants.kPFrontRightVel, 0, 0),
                    new PIDController(DriveConstants.kPRearRightVel, 0, 0),
                    m_robotDrive::getCurrentWheelSpeeds,
                    m_robotDrive::setDriveMotorControllersVolts, // Consumer for the output motor voltages
                    m_robotDrive);

            // Reset odometry to the starting pose of the trajectory.
            m_robotDrive.resetOdometry(testTrajectory.getInitialPose());

            // Run path following command, then stop at the end.
            return mecanumControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));

### B 方案

如果還是真的 Aaron 和 Albert 好像說可以用 `Ramsete Controller`，但在轉彎好像不順吧 ??

### C 方案

最後的方案就是用 Encoder 拿到的距離和 Gyro 測到的角度去實測

public static final int kEncoderCPR = 2048;
    public static final double kWheelDiameterMeters = 0.1524;
    public static final double kWheelCircumference = kWheelDiameterMeters * Math.PI;
    public static final double kGearRatio = (50 / 14) * (48 / 16);
    public static final double kEncoderDistancePerPulse = kWheelCircumference / (double) kEncoderCPR / kGearRatio / Math.sqrt(2) * 10;

motorFL.getSelectedSensorVelocity() * DriveConstants.kEncoderDistancePerPulse

## Shooter

我自己是覺得兩種方法都要做

中科去年比南科的時候就好像是某個自動的部分爆掉，結果整個下去，所以都要試

可以的話當然是 A 方案優先

### A 方案

[FRC 7130 Robot Calculator](https://www.desmos.com/calculator/sxpmn9dotp?lang=zh-TW)

用數學和各種原理

什麼空氣阻力?? 重力加速度??

裡面的所有單位都是 feet

### B 方案

最原始的方式

慢慢測

if(某一段距離){
    motor.set(某個數字)
}else if(某一段距離){
    motor.set(某個數字)
}else if(某一段距離){
    motor.set(某個數字)
}else if(某一段距離){
    motor.set(某個數字)
}

## Climber

機械那邊本來是要用 cancoder，但我們數量似乎不夠，所以應該會上限位開關。

就這樣