Introduction

This repository contains FRC team 2930's 2023 Charged Up Competition code

Our Robot, named Rober, includes features such as:

• 4 times Autonomous Award Winner

• 3 Game piece autonomous modes
• Fully automated aligment to human player feeder station
• Fully automated aligment to grid

• Full field vision using PhotonVision, 3 cameras, 2 Orange pi 5

• Multi-tag PNP support

• Simulated vision (note: does not support multi tag)
• Simluated swerve (per 3061-lib)

• Simluated Vertical and Horizontal Elevators

• Logging and replay via AdvantageKit

Noteable Files

• .Robot.java

• SwerveAutos.java - Competation autos

• DriverAssistAutos.java - Teleop driver assist features

• SimulatedMechanism - Simulated Elevators

• /vision/ - Vision system

Credits & Refernces

• 3061-lib for the swerve library and base advantage kit structuring
• Team 6328 Mechanical Advantage build thread

3061-lib credits

• MK4/MK4i code initially from Team 364's BaseFalconSwerve
• general AdvantageKit logging code, AdvantageKit-enabled Gyro classes, swerve module simulation, and drive characterization from Mechanical Advantage's SwerveDevelopment
• AdvantageKit-enabled pneumatics classes from Mechanical Advantage's 2022 robot code
• Talon factories from Citrus Circuits 2022 robot code
• CAN device finder code from team 3620 2020 robot code
• Setting up Spotless code linting WPILib Spotless setup