2019-inseason
FRC Team 973: The Greybots 2019 Code for Destination: Deep Space
2019 Houston World Champions!
2019 Orange County and Sacramento Regional Autonomous Award Winners!
Getting Started
Welcome to the 2019 Robot Code for the World Champ robot: Fireball! We use Gradle to build here. For a walk-through on installing the build system on your computer, check out guides/InstallGuide.md
. Then, run ./gradlew build
in the top-level directory.
Main features
Some unique and interesting features to look for:
- Custom vision alignment control algorithm used in teleop and sandstorm by running three PID loops off the roboRIO based off Limelight x-offset, y-offset (for real time distance calculations), and target skew/rotation
- Automated L3, buddy-L3, and L2 climb sequences
- Limelight as a source for driver feedback
- State machine to handle automated motions for simultaneous elevator, cargo, and hatch intake
- Current low-pass filtering for cargo intake
- Utilizing motion magic control mode on Talon SRXs for elevator motions
- GreyDash - custom, real-time dashboard primarily used for tuning PID and reading miscellaneous robot data (based on FRCDashboard pre-electron)
- GreyCTRE/GreySparkMax Wrapper - used to set default values for all Talon SRXs/Victor SPXs and Spark MAXs
- Coding style checker at commit following our own style guide (found in the
tools
folder)
Contributors
Thank you to everyone who helped with our code for this year! Special thanks to the following.
Students
Mentors