2024-Robot-Code

Introduction

Competition code for team 2930, The Sonic Squirrels, 2024 FRC Crescendo robot "Maestro".

Won innovation in controls award at district event and autonomous award at PNW regional championship.

Full-field vision using 2 April Tag cameras and 2 Orange Pis
Multi-tag PNP support
Mid-game automated alignment to amp
Mid-game automated alignment to trap
Autonomous state machines for better logic organization
Ability to dynamically adjust to next game piece in auto if desired one is missing footage of this in action
Custom path following using Choreo Choreo
15 autos with multiple permutations of each auto
Neural network "AI" game piece vision using Photon vision for dynamic path adjustment footage of this in action Photon vision object detection
Simulated vision (note: does not support multi-tag)
Simulated swerve (per 3061-lib)
Simulated Elevator, Arm, and Shooter
Logging and replay via AdvantageKit

3061-lib for the swerve library and base advantage kit structuring 3061 Lib
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
Setting up Spotless code linting WPILib Spotless setup
Sleipnir Group Choreo Choreo