Mecanum Robot Implementation

[HawkCollective2890]

Description: In this ticket you will write a command based robot program for FRC. This ticket will go over the outline of the command base structure, shuffleboard, xbox controllers, and motor controls. You can assume the robot is a mechanum drive and has 4 CIM motors w/ Spark MAX motor controllers (CAN ID 1 - 4) and one Xbox Controller on port 0.

Acceptance Criteria:

• Write a Command Based program for a robot with the following design:

  • One Drive Train Subsystem Class for defining subsystem methods
  • One Drive Train Command Class for executing subsystem methods
  • Once Constants Class for static variable declarations

• Additionally:

  • Utilize the xbox controller for input
  • Apply a controller deadzone for the first %20 of the joystick axis
  • The left stick should do orthogonal and diagonal movement
  • The right stick should do rotation

• To submit:

  • Place your source code in- Training/Student/{your_name}/mecanumBot

Resources:

• Command Base Starter Template: https://github.com/Team2890HawkCollective/Training/tree/main/Assignments/RobotCodeTemplates/CommandBase
• Command Base Tutorial Video: https://www.youtube.com/watch?v=0yP3L2WaZVI

Notes:

• Reach out to @gavinjalberghini on Discord if you have any questions

[gavinjalberghini]

Reviewed the 2nd iteration on the PR. Some minor changes need to be fixed then you should be good to go.