Elements_Needed.txt

Motors:
Drivetrain x6 (NEO), will upgrade to x4 (Falcon)
Intake x1 (Redline or similar)
Processing x2 (NEO x1, Redline or similar x1)
Turret x1 (Planetary)
Flywheel x2 (Falcon)
Hood x1 (Tiny motor :) )
Hook x1 (Redline or similar)

Encoders:
Drivetrain
Turret
Hood
Flywheel
Hook

Pneumatics:
Shifter
Intake
PTO for climb

Subsystems:

Hardware-based:
Drivetrain
Pneumatics
Shooter
Intake/Processing
Climber

Software-based, for simplicity
Vision (for accessing values from the RPi)

Commands:

Autonomous/Auto Assist:
Drive straight a given distance at a given angle during autonomous -> AutoDrive
Turn to a given angle during autonomous -> AutoTurn
Lock to the vision target with the turret ->
Fire balls accurately (adjust speed, angle of shot) ->
Locate and acquire new balls ->

Manual:
Drive, general ->
Shift gears ->
Deploy and retract intake device ->
Deploy hook for climb ->
Activate climber winches ->

Manual backup (in case of automatic failure):
Rotate turret ->
Fire shots ->
Operate intake ->

PID Control:

Drivetrain:
Driving straight
Turning to an angle
Driving a distance in high gear
Driving a distance in low gear

Shooter:
Adjusting turret angle
Adjusting hood height
Adjusting wheel speed

Other subsystems:
None at this time

Cameras:

Vision Processing:
Mounted to turret for shots
Inside 'mouth' for ball detection

Driving:
Approximate 'front' of robot (probably in the intake)
On turret?
For lining up with climb bar?