2017-Steamworks

Team 1757 - Wolverines' robot code for the 2017 FIRST STEAMWORKS game challenge. Main robot code is written in Java based off of WPILib's command-based control system. Onboard Arduino code is written in Arduino C.

The code is divided into several packages based off of the command-based structure. All required library blobs are included in the lib/ directory.

Compiled javadocs are in the doc/ directory. Open the doc/index.html file to view it.

Robot Features

• Mecanum drivetrain

• Fuel collector

• Fuel shooter

• Gear scorer (active)

• Rope climber

• Onboard arduino for LED control

• Sensors

  • NavX-MXP (gyroscope, accelerometer)
  • Lifecam 3000 (vision source)
  • Maxbotix MB1013 (ultrasonic rangefinder)

• Vision Processing

  • Sourced from 2x Lifecam 3000 cameras
  • Processed through GRIP running on DriverStation PC
  • Closed-loop translation and rotation control for perfect alignment with gear and boiler targets

Packages

• robot
  • 'administrative' driver classes
• subsystems
  • High-level representations of physical hardware systems
  • Interface between highest-level Commands and lowest-level hardware
• commands
  • Represent in-game actions at the highest level of abstraction

• utils

  • Any utility classes for PID control or improving hardware functionality

  For a more complete breakdown of the code structure, see blog post.

Naming Conventions

• CONSTANT_EXAMPLE (i.e. DISTANCE_MAX_MM) : Final constants
• camelCase (i.e. defaultUnit) : Instance variables
• kInstanceName (i.e. kInches) : enum instances

About Us

We are a veteran FIRST Robotics Competition team from Westwood High School in Westwood, Massachusetts. Feel free to check us out on Twitter, Snapchat, or at our website!