2023CompetitionBot
FRC Team 5414's code for the 2023 competition robot, Rooty (or Roosevelt). The code is written in Java and uses WPILib's Java command-based structure.
Code Highlights
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Field-Centric Swerve Drive
The robot's drivetrain is a standard swerve drivetrain with field-centric control using double NEO SDS Mk4i modules. The drivetrain uses encoders, a Pigeon 2 gyro, and odometry to control movement during the autonomous and teleoperated phases. The rotation of the drivetrain can be controlled either through speed or heading.
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Cube Shooter, One DOF Arm, "Big Stick", LED Indicators
The robot uses WPILib subsystems and enums to effectively create a state machine that controls each mechanism. The robot features a cube shooter that uses fixed speeds using velocity PID control and a beam break sensor to detect cubes. The arm uses positional PID control for each setpoint, as does the "big stick," which extends the range for shooting behind the charge station. LEDs also indicate the presence of a cube, the shooter mode, and indicate to the human player the desired game piece.
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Autonomous Path Following
The robot uses Team 3015's PathPlanner, a motion profile generator for FRC robots, to generate and follow autonomous trajectories. Autonomous routines are created using sequential command groups and selected through sendable choosers in SmartDashboard.
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Launchpad
The operator uses a Novation MK2/MK3 launchpad to control much of the robot's mechanisms. It operates from the command prompt by running a Python project that uses MIDI, pygame, and pynetworktables which connects the launchpad to the computer and creates a NetworkTable. A Launchpad Button class that extends the Trigger class allows the implementation of commands like that of Joystick buttons onto the Launchpad.
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Fully Automatic Balancing
The drivetrain uses PID controllers and data from the gyro's pitch and roll to automatically balance from any orientation during the autonomous phase of the match.
Variable Naming Conventions
- XXX_XXX (i.e.
WHEEL_DIAMETER): All constants (screaming snake case) - kXxx (i.e.
kZero): All enum constants for states - xxXxxXxx (i.e.
autoStartingSideChooser): All private instance variables (camel case)