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Requirements

1. Configure using config.toml and limits.toml in deploy/healthcheck directory. Possibly combine into one file. What is the best way to deal with overwriting in deploy during deployment?
2. Add a simple interface to Subsystems. This should be the only coding required.
3. Scan limits.toml and add any missing tests from config.toml with sane limits automatically.
4. Re-running healthcheck will load the config.toml and limits.toml for faster iterations while tuning tests.
5. Create robotRIO embedded web server output directory automatically.
6. Need to test things other than motors?

Tests

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Odometry Test Protocol

The objective is to evaluate how well our robot's swerve drive odometry tracks with actual field position while experiencing normal match driving for the duration of a match. We will capture odometry calculated Pose2d field position using the Third Coast telemetry system already on the robot.

Preparation

We need to do some up-front preparation to allow us to correlate the actual position of the robot on the field in the captured odometry Pose2d position time series.

1. Decide how many field reference positions (1 or more) you will use. These will be field positions the robot drive goes to periodically during the test run. You can mark these on the field however you like (tape, red solo cups, etc).

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public class Main {

  public static void main(String[] args) {
    minRotationIEEERemainder(4095, 1); // expect +2
    minRotationIEEERemainder(10 * 0x1000 + 4095, 1); // same, plus 10 revolutions
    minRotationIEEERemainder(-1024, 1024); // expect +/- 2048
    minRotationIEEERemainder(10 * 0x1000 - 1024, 1024); // same, plus 10 revolutions
    minRotationIEEERemainder(2730, 1365); // 240 -> 120 expect -120 (-1365)
    minRotationIEEERemainder(10 * 0x1000 + 2730, 1365); // 240 -> 120 expect -120 (-1365)

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// azimuth talon configuration
// NOTE: do not rely on these PID parameters, you should tune for your physical plant

TalonSRXConfiguration azimuthConfig = new TalonSRXConfiguration();
azimuthConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.CTRE_MagEncoder_Relative;
azimuthConfig.continuousCurrentLimit = 10;
azimuthConfig.peakCurrentDuration = 0;
azimuthConfig.peakCurrentLimit = 0;
azimuthConfig.slot0.kP = 10.0;
azimuthConfig.slot0.kI = 0.0;

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public class Main {

  public static void main(String[] args) {
    minRotation(359, 0);
    minRotation(359, 1);
    minRotation(90, -90);
    minRotation(180, -180);
    minRotationWithReverse(359, 1);
    minRotationWithReverse(90, -90);
    minRotationWithReverse(180, -180);

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Run	Expected (cm)	Actual (cm)	Comments
1	700	644.0	pA = 0.0, pD = 0.0
2	700	641.0	pA = -0.004, pD = 0.0
3	700	649.0	pA = -0.004, pD = 0.0
4	700	692.0	pA = -0.004, pD = 4e-6
5	700	693.5	pA = -0.004, pD = 4e-6
6	700	693.0	pA = -0.004, pD = 4e-6

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Climber
Left CAN=20 PDP=12
Right CAN=21 PDP=13

Intake
Left CAN=30 PDP=10
Right CAN=31 PDP=9

Shoulder
CAN=40 PDP=11

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// factory reset a talon and run these statements in a robot program
double value = talon.configGetParameter(ParamEnum.eBatteryVoltageFilterSize, 0, 10)
System.out.println("voltage filter size = " + value);
value = talon.configGetParameter(ParamEnum.eProfileParamSlot_MaxIAccum, 0, 10)
System.out.println("max I-accum = " + value);

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