Meeting 9/16/16

Programming:
In he first half of the meeting, the programming team assisted the mechanical team in making progress towards finishing the robot for THOR. After this, the basic drive functionality for the robot was ready, so we tested the drive code. There were some issues with communicating with the motor controllers, but it was soon resolved. The robot moved very well, and there was a significant positive difference between this robot and the practice robot the programming team had been working on the past few weeks. Later in the meeting, the shooter subsection was finished, and attached. We created code to run the shooter at a given percent power and tried to use it. It worked for small speeds, but after a certain point (around 70% power), the shooter would stop responding. After some time, we realized this was because the motor controllers had been swapped for the turret and shooter from last year to now, so the motor controller operating the shooter used to operate the turret, and had soft limits which were triggered once certain speeds were reached. After disabling these limits, and setting it to coast mode instead of brake mode, we were able to manually test a few shots before the meeting ended. Next up is tuning the vision and shooter.