Offseason 2021

[richiksc]

• P1 General audit, read-through, and cleanup of code
• P1 Figure out inconsistency in swerve trajectories (maybe tread?)
• P1 Figure out why we have two motion planners and try to get it down to one #150
• Figure out what is taking robotInit so long (profile using debugger) #147
  • Make trajectory calculation asynchronous / background thread (don't block initialization) #148
  • Potentially calculate trajectories compile-time
• Standardize modular Swerve and WestCoast drivetrains using interfaces in standard library #149
• Figure out why the robot lurches forward at the beginning of path - even if desired path does not go forward
• Gyro simulation using inverseKinematics
• Use Field2d with real robot
• Major Project but very important for future performance and sanity of team: motion plan swerve heading - integrate into trajectory planner, smoothly interpolate, multiple desired headings along a path
• Separate cheesy-path into own repo, host on AWS, set up deployment using GitHub Actions, potentially add ServiceWorker to frontend for offline capability
• Automate the AutoModeSelector
  • Think about impact on performance and startup time - potentially do compile time transpilation
• Potentially configure controls in new controls.yml instead of ControlBoard pojo classes

More ambitious goals

• Make robot code read CSV path files directly (more metadata must be added to path files, JSON headers?)
  • Think about impact on performance and startup time - potentially do compile time transpilation
• Potentially make autos buildable using GUI - target shooter speeds, etc, subsystem control at specific waypoints. Chain path files together using GUI??