Meeting 9/17/16

Programming:
Shooter:
This meeting, we focused on getting the shooter operational. We wanted to create a table that would take the distance as an input, and calculate the RPM necessary to shoot a goal. However, we ran into many difficulties with this. When we gave the shooter the RPM of 3000, and checked what it was actually reading (through the encoder), it would give a value significantly lower (around 2000). We are not sure why this has been happening, nor which value is actually correct. What we are probably going to do is only use one value to run our shooter, and use the inbuilt PID to keep the shooter consistent. This means, instead of worrying which reading is correct, we will just program everything in the unit of one of them (in the above example, 3000).
 Turret:
After this, we worked on the turret. We had to be really careful, because the turret can only move 30 degrees in either direction, and we didn't want to accidentally break the turret. After we determined how the turret worked, and after we set up our soft limits to make sure nothing would break, we started integrating the vision data into the code. Currently, we are able to make the turret rotate to lock onto the target by using vision. The one problem we are running into is the fact that the camera is a few inches to the right of the shooter, and so when we lock on to the target with vision, the shooter will be shooting slightly off. Currently, we are looking into ways to solve this issue.