Team 581's robot code for the FRC 2022 Rapid React game.
- Zero, one, or two ball autonomous
- Drivetrain
- Mecanum drivetrain controlled with a holonomic drive controller during autonomous
- Per-wheel closed-loop velocity control with feedforward and feedback via PID
- Vision
- Two Limelight 2+s used for tracking cargo and aligning with the upper hub
- Uses on-the-fly trajectory generation for aligning with the hub's fenders during teleop
- Full robot localization using vision data fused with odometry data using an unscented Kalman filter
- Arm which carries the intake & shooter (AKA "Swiffer Picker Upper")
- Closed-loop velocity control for intake & shooter flywheel
- Open-loop position control for moving arm
- Misc
- Mass data logging to USB + streamed to driver station via Advantage Kit
Robot source code is stored within the src/main/java/frc/robot/ directory.
We also have a few files within the src/main/java/lib/ directory for generic vendor utilities (ex. a Limelight NetworkTables wrapper).
| Directory | Description |
|---|---|
src/main/java/frc/robot/superstructure/ |
The superstructure Subsystem that helps coordinate movement of the swiffer and arm together. |
src/main/java/frc/robot/superstructure/swiffer/ |
The "Swiffer Picker Upper", our combined intake & shooter mechanism. |
src/main/java/frc/robot/superstructure/arm/ |
The arm mechanism for the Swiffer Picker Upper's arm. |
src/main/java/frc/robot/vision_cargo/ |
The vision system (Limelight 2+) used for targeting cargo on the floor. |
src/main/java/frc/robot/vision_upper/ |
The vision system (Limelight 2+) used for targeting the upper hub. |
src/main/java/frc/robot/vision/ |
Code reused in the vision subsystems. |
src/main/java/frc/robot/paths/ |
Tools for autonomously following paths/trajectories. |
src/main/java/frc/robot/drive/ |
The drivetrain. |
src/main/java/frc/robot/controller/ |
Game controllers used by human drivers. |
src/main/java/frc/robot/misc/ |
Miscellaneous classes that are used throughout the project and don't belong to any one group. |
See limelight/.
PathPlanner trajectories are stored within the src/main/deploy/pathplanner/ directory.
Assorted WPILib SysId files are stored in the top-level project directory and the .SysId/ directory.
| File | Description |
|---|---|
config.json |
The main SysId configuration file. |
sys_id_data*.json |
Recorded SysId data files for analysis. |
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