This repository contains FRC team 2930's 2023 Charged Up Competition code
Our Robot, named Rober, includes features such as:
- 4 times Autonomous Award Winner
- 3 Game piece autonomous modes
- Fully automated aligment to human player feeder station
- Fully automated aligment to grid
- Full field vision using PhotonVision, 3 cameras, 2 Orange pi 5
- Multi-tag PNP support
- Simulated vision (note: does not support multi tag)
- Simluated swerve (per 3061-lib)
- Simluated Vertical and Horizontal Elevators
- Logging and replay via AdvantageKit
-
SwerveAutos.java- Competation autos -
DriverAssistAutos.java- Teleop driver assist features -
SimulatedMechanism- Simulated Elevators -
/vision/- Vision system
- 3061-lib for the swerve library and base advantage kit structuring
- Team 6328 Mechanical Advantage build thread
3061-lib credits
- MK4/MK4i code initially from Team 364's BaseFalconSwerve
- general AdvantageKit logging code, AdvantageKit-enabled Gyro classes, swerve module simulation, and drive characterization from Mechanical Advantage's SwerveDevelopment
- AdvantageKit-enabled pneumatics classes from Mechanical Advantage's 2022 robot code
- Talon factories from Citrus Circuits 2022 robot code
- CAN device finder code from team 3620 2020 robot code
- Setting up Spotless code linting WPILib Spotless setup