2018-Robot-Code

Code for Team 401's robot for the 2018 FIRST Robotics Competition game Power Up.

General Features:

Multi-project using GradleRIO / EmbeddedTools to allow unified deploys to roboRIO and coprocessor.
Task tracking and organization using Waffle.io
Bintray releases for software modules.
Version controlled IntelliJ Run Configurations to standardize deploy tasks between all programmers.
Kotlin used for all robot and coprocessor code

Modular domain specific language to make robot code development faster and easier.
State machine based subsystems with optional rejection conditions and entry, exit, and loop behaviors for each state.
Motion profiling with Processing based GUI and trajectories generated by Pathfinder.
Motion magic controlled elevator system with manual adjustment
Motorized virtual four bar intake with positional PID control to add 'springs' to the system. Current monitoring to detect power cube acquisition.
Custom two-speed 775pro drive with autoshifting and anti-tip correction.
'Virtual sensors' for controlling LEDs and coprocessors.

SnakeEyes vision library providing custom tiling picture-in-picture multi-camera views, side-by-side views, and targeting crosshairs
Automatic recording of match videos with footage automatically transferred to external storage device.