PostAssembly

Yay you just got the assembled and wired robot week 5ish - end

The goal for robot bring up should be 5 hours total with the robot. That should be plenty of time to get the robot scoring and light automation.

Initial Safety Setup

• Start off with all subsystems running on simulated or null IOs

• This disables everything except the drivebase

Deploy and Validate Electronics

• Connect to the robot and deploy code

• In Phoenix Tuner X:

  • Set ports

  • Blink every motor

Missing motor? Tell electrical lead or Cuevas

• Check all electronics’ status lights

• Update CTRE firmware

• Zero all CANCoders

• Restart robot code

Validate Feedback

Make sure AdvantageScope virtual twin is updating properly, if advantage scope doesnt look right it is likely unsafe to enable

Subsystem Validation

• Manually move each subsystem to max/min

• Ensure motion matches simulated behavior

Put robot on blocks before enabling

Keep hand on Enter, if anything but swerve moves immediately disable

• Enable the robot

Bring-Up Subsystems One by One

• Confirm drive works

• Gradually switch each subsystem's simulationIO to false

• For each:

  • Characterize feedforward

  • Tune motion

  • Validate setpoints

Automation and Autos

• With all systems working:

  • Begin testing automation

  • Should be near 100% accuraccy before moving on

  • Once you are happy with automation, begin testing autos

  • Should also be near 100% accuracy before letting the drive team have it