Doc Ock - FRC Team 3255's 2023 Robot

Photo of our robot at the San Diego Regional

The SuperNURDs' code for our 2023 FRC robot, Doc Ock. Doc Ock's code is written in Java and uses WPILib's command based framework.

Controls

Driver Controls Operator Controls

Originally based off of Team 364's BaseFalconSwerve
Rewritten to follow our own style and structure
Uses WPILib swerve classes
Field Centric Control
- Uses navX2 gyro
Autonomous path following using PathPlanner and PPLib
Auto balance on charge station
- Uses a very simple two state bang-bang controller to always drive at a slow speed "uphill" and stop when level
- Uses navX2 gyro
- Requires specific rotation of robot
- Only used in autonomous, not teleop
MK4Is with Falcon 500 Pinions and L2 Gearing purchased from Swerve Drive Specialties

Uses a state machine to control position
States are combinations of shoulder and elbow angles
Transition states may be used to avoid arm collisions
Each joint position is controlled using Motion Magic
- Cruise velocity is set to very high value and only the acceleration limit value is tuned.
2 Falcon 500s - One for the elbow, one for the shoulder

Mounted at the end of the arm and used to intake game pieces
Employs a limit switch to determine when a game piece is collected
Applies a small, constant current when a game piece is collected to prevent it from falling out
2 NEO 550s, placed on the left and right of the intake, each with SPARK MAX Motor Controllers

Deployed when intaking cubes from the floor to help guide them into our intake
Falcon 500 - Pivot motor
- Controls the angle in which the collector is deployed. Only set to a "stow" or a "collecting" angle.
NEO 550 with a SPARK MAX Motor Controller - Roller motor
- Controls the speed of the rollers

Vendor Dependency - VS Code Online Install Link - Documentation (if applicable)