/3818s-high-stakes

codebase for team 3818s during the V5RC season High Stakes (2024-25)

Primary LanguageC++

3818 (~) High Stakes Codebase

Description

The codebase for a certain team of 3818, currently consisting of 4 members. The main branch should always be functional.

Features

Teleop

  • Control code for asterisk and X drivetrain types

Motion Algorithms

  • Easy-to-use PID classes

  • Generic odometry-based PID motion for holonomic drivetrains

  • Non-overlapping Pure Pursuit implementation

    • with tracked position interpolation to prevent point skipping

  • 2D Motion Profiling for holonomic drives

    • with support for any linear profile
    • with angular acceleration minimization

  • Path generation using uniform Catmull-Rom spline

    • centripetal + chordal coming soon

  • Heading interpolation for splines

    • lerp from control points

  • Trapezoidal linear motion profile generation

    • time and distance parameterization

Sensors

  • Abstractions for gyroscopes and rotation encoders
  • Filtered gyroscope class using modular arithmetic averages
  • Custom 2-tracker odometry algorithm for higher tracking accuracy
  • Sensor fusion with 2 IMUs with the KFOdometry class

Math and Logic

  • Extensible state machine implementation
  • Reliable ExitCondition class
  • Linear and angular balancing for teleop "arcade" style movement

Utils

  • Logging with colour support
  • Generic AutoUpdater for updating odometry, PID, exit conditions, etc.
  • A variety of miscellaneous functions such as shorter_turn and clamp_distance

Dependencies

plot.py

ffmpeg

Python (via pip)

pros-cli matplotlib PyQt6