/Proto-Bot-2021

This is the 2021 off season research and development. Ignore the other repo of the same name, it's non operational.

Primary LanguageJavaOtherNOASSERTION

Repository containing the base of 5687 Swerve Drive.

Includes / Will Include :

  • Differential Module State Space Model
  • LQR Control of Modules
  • Localization Pose Estimator
  • Trajectory Generation / Following
  • Maverick
  • Venom

Localization:

Will use the WPILib SwerveDrivePoseEstimator which implements a Uncented Kalman Filter with latency compensation.

Devices:

  • Photon Vision with Hardware (Limelight or GloWorm)
    • Pro: Easy drop in, supported by WPILib.
    • Pro: Can be relativly cheap.
    • Con: Needs retro reflective tape for estimation thus needing to be seeing a target.
  • ZED 2:
    • Pro: Has SLAM algorithm for locatilation with depth sensing for more ways of localization
    • Pro: Lots of potential if utilized correctly.
    • Pro: Has external GPU for off board calculations.
    • Con: Expensive bundle (ZED 2 ~$400 along with Nvidia Series ~$100-$400)
    • Con: Not as easy to drop in.

Trajectory Generation:

Methods:

  • WPILib Trajectory Generation:
    • Pro: Easy to implement and supported regulary.
    • Con: Doesn't have great heading control for swerve (possible to tweak)
  • Custom:
    • Pro: Can design to your liking.
    • Con: Not simple.