FTC Team 12862 Progress Updates #358

My first comment: as I mentioned, I got everything booted last night. It was late and I didn't see that I needed to update the A301s so that's probably why my first code set did not work. BUT, I have the MC and SC here at work right now and I'm just looking at the LED status lights. I'm not sure what I'm supposed to see or expect here.

1. do we have documentation on what these LEDs mean
2. I'm currently seeing the following:
   • SystemCore:
     • Green PWR LED
     • Solid Amber MODE LED
     • STATUS LED Off
   • MotionCore:
     • Green PWR LED
     • Flashing Amber MODE LED
     • Flashing Amber STATUS LED
       Like I said, I see that I need to flash the A301s (which I will do when I get home in a little bit), and I updated the firmware on the SystemCore but is there firmware update for MotionCore that I need too and if so, how do I update that (RHC2 is not 'seeing' anything)

The team got together on Thursday and we looked at a number of things but unfortunately did not have a lot of success with getting the robot moving. I went back and looked and I kept getting a compile error. After a lot of debugging on my end, I saw that as I install the REVLib dependency, I get a compile error and then as soon as I remove it the compile error goes away. No code change or anything is required, just adding/removing the dependency. As I look at the gradle logs, I see the following (and a few more errors like this, I think 5 in all)

> Could not GET 'https://frcmaven.wpi.edu/artifactory/vendor-mvn-release/com/revrobotics/frc/REVLib-driver/2027.0.0-alpha-6/REVLib-driver-202700-alpha-6.pom'.
 > Got SSL handshake exception during request. It might be caused by SSL misconfiguration
 > (certificate_unknown) PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target`

I am on my work laptop and I think that possibly there's something in my antivirus that's blocking my accesss because I can copy and paste that link into a browser and get there just fine.

I took my wife's computer, installed WPILib and was able to get it to compile just fine and flashed the robot this morning without any issues, so it is just a computer problem. We are now up and running with a full mecanum chassis.

I thought I would also add some pictures of the hardware setup and mechanical build.

Here is how our motors are mounted into the system. The Motor mount has two M3 screws and then the 4 M4 screws go through the GoBilda chassis rail and into the motor mount. I would have preferred to just use two M4 (well, preferred to use 4 M4 screws) but there is not the proper clearance in the A301 for a bearing to come in. My main reason for adding the two bearings on either side of the channel is to remove any stress that may occur on the A301s motors. We had issues with direct driving wheels with the older motors and I don't want to re-live the experience of replacing motors at a competition.
image

Here is what the full robot chassis looks like. We moved the cross-bar back one hole, which allows us to securely fasten the MC, SC and Battery holder to both rails. THANK YOU for putting these mounting holes on 8mm centers!
image