Offseason code for Athena (FRC Power-Up 2018). Athena's code is running Java through GradleRIO.
- Download Gradle
- Download or Clone this Repository
- Open Eclipse and go to "File > Import"
- Under "Gradle" choose "Existing Gradle Project"
- Chose this repository as the "Project Root"
- Continue with default settings and import the project
In the command line of this repository run gradlew build
and then gradlew deploy
.
You can also run gradlew riolog
to connect to the logging from the robot.
- Onboard trajectory generation, caching, and following
- Better Code Organization
- New Console Class (console.java) for logging organization
- Custom Command Based System
- Subsystem Manager
- New Squeezy Code with Current Detection Holding
- New Elevator Code
- New Drive Code with integration into autonomous and a bezier curve helper
- Odometry/Kinematics, robot position calculating
- Custom TCP Socket to connect to the BreakerBoard
- Squeezy Sanchez (Squeezy): Athena's cube intake mechanism, uses a cim motor to drive arms in and out.
- Elevator: Athena's main elevator, a single channel elevator driven with two CIMs and dyneema.
- Climber: The combination of a hook attached to the elevator and a winch, allowing the robot to lift itself a foot off the ground from a metal bar.
- Drive: The main drive train of the robot. (Includes Gyro, Encoder, and Motor Controllers)
Based roughly off of the Google Style Guide.
- Constants: _ + name