= Core Robot Development Team[[BR]]
This team is responsible for the main software that goes into making the robot function, including designing the algorithms and collaborating with the mechanical teams to develop program specifications.

'''Mentor Leads'''
* [mailto://david@dalbert.net Mr. Albert]
* [mailto://aldunn@comcast.com Mr. Dunn]
'''Student Lead'''
* [mailto://tmthylin@gmail.com Tim Lin]

== [=#mechspecs]Core Team Member Assignments[[BR]]
{{{#!th rowspan=2 style="color: green"
'''Arden
}}}
|----------------
{{{#!td align=left
== 4-Bar Lifter Arm
==== Sensors
* sensors want 4 (2 in practice) 9-deg sensors to provide arm angle relative to support pillar 
* potentiometer failsafes -- will be used only if 9DF sensors don't work out
* No more hard limits. Use 9 deg freedom values as soft limits
==== Actuators
* 1 CIM motors
* Wormed into winch - Allows to maintain position when powered off
==== Code
* top/bottom range calibration
* Arm movement to be controlled by xbox joystick for a range of speeds (Preferably Right joystick) 
* Want - preset positions (6-8 possible, check with Game) and manual move up/down
* hard software limits --> must satisfy
* needs to be able to detect if unspooling and stop motor
}}}
|----------------
{{{#!th rowspan=2 style="color: violet"
'''Fahim
}}}
|----------------
{{{#!td align=left
== !Claw/Grabber
=== Pneumatic Implementation
==== Sensors
* viewing camera
==== Actuators
* 2 pneumatic pistons
==== Code
* only 2 positions: open, closed
* when the claw is below a certain level off the ground (TBD), the claw must be in the closed position
*Claw Open / Close on xbox triggers - Open on left

=== Motor Implementation
==== Sensors
* camera
==== Actuators
* motor
==== Code
* limits on motor extreme values
}}}
|----------------
{{{#!th rowspan=2 style="color: red"
'''Josh
}}}
|----------------
{{{#!td align=left
'''Drive Train'''[[BR]]
Sensors[[BR]]
* Lidar sensor to detect distance from back wall; used for autonomous ranging
* 2 encoders to tell distance, possibly turning
Actuators[[BR]]
* 4 CIM Motors
Code[[BR]]
* Increase joystick deadzone
* Joystick trigger press = straight motion. Possibility to use encoders to find motor speeds in closed loop.

'''Hook'''[[BR]]
Actuators[[BR]]
* small-stroke piston - open and close hook
Code[[BR]]
* When the Arms is down, Hook MUST be in the closed position
* Actuated on xbox bumpers - Open on left 
}}}
|----------------
{{{#!th rowspan=2 style="color: blue"
'''Andrew
}}}
|----------------
{{{#!td align=left
'''!Input/Sensors'''[[BR]]
Implement and manage sensors and human input for the entire robot.

Manage the input and hand out button assignments (work with drive team).

'''Camera'''[[BR]]
Manage and process the camera input from any cameras decided to be mounted on the robot.

'''Design Patterns Implementation'''[[BR]]
Implement the general design pattern; design and implement the sensors interface within the project

'''!SmartDashboard Special Project'''[[BR]]
Implement the Smart Dashboard (or a Swing equivalent) for display information to the drivers through the laptop.

'''Manage SVN Project Hierarchy and Integration'''[[BR]]
Coordinate integration when required and maintain the project hierarchy in subversion.
}}}

[[BR]]
{{{
#!div style="border:1pt dotted"
'''Schedule'''[[BR]]
Please see the google spreadsheet, which can be found [https://docs.google.com/spreadsheets/d/1uXIorhGX5r5QQx2UpiDW5_aabENIwwr-1V9UQfRofR4/edit?usp=sharing here].
}}}

== Technical Resources
=== Setup Instructions
* [wiki:FRCSoftwareSetup Setting Up a Computer for FRC Java Programming]
* [wiki:DriverStationSetup Setting Up a Driver Station]
* [wiki:RoboRioSetup Setting Up a New RoboRIO]

=== Programming Aids
* [http://first.wpi.edu/FRC/roborio/release/docs/java/annotated.html FRC API Javadocs]
* [https://eclipse.org/subversive/documentation/teamSupport/merge_dialog.php Merging SVN]

=== Control System Elements
* [wiki:SoftwareCAN Using CAN for Software]
* [wiki:UsingSerialPorts Using the roboRIO's Serial Ports]