Lesson 23: Recap

This recap covers the second group of lessons: debugging, state, timing, encoders, gyros, pneumatics, threading, and PID control.

You Should Be Able To

• Describe a robot bug clearly before changing code.
• Use print statements or dashboard values to inspect important variables.
• Create state variables for a mechanism.
• Use calibration constants instead of magic numbers.
• Use timers without blocking the robot loop.
• Read an encoder and convert counts into distance.
• Read a gyro angle and use it as feedback.
• Command single and double solenoids.
• Explain why extra threads should be used carefully.
• Calculate PID error and write a simple proportional controller.

Practice Project

Design a small elevator in code. You do not need real hardware for the design. Write the classes and variables you would use.

1. Create states for idle, moving up, moving down, and holding.
2. Add calibration values for motor speeds and maximum safe height.
3. Add an encoder value for position.
4. Add a timeout for movement.
5. Add a proportional controller that moves toward a target height.

If you can explain how those pieces fit together, you are ready to apply feedback control to drive trains.