Public release of ArmStrong's 2019 robot project. The code is written in Java and uses WPILib's "Command based programming" design pattern.
- State based operation of robot mechanisms - arms are coordinated and synchronized to not collide with each other.
- Automatic alignment to vision targets using Pixy - custom self implemented algorithms to calculate robot position (x, y, theta) relative to the targets.
- Autonomous paths are generated and executed using custom algorithms and Jaci's Pathfinder.
- Calibration modes - Custom calibration modes for each robot mechanism that disable normal robot operation, use special controller button mapping and open Shuffleboard tabs with all the relevant data.
The project is compatible with Visual Studio Code. It requires WPILib 2019.4.1 and the following Vendor Libraries:
- KauaiLabs_navX_FRC 3.1.366
- PathfinderOld 2019.2.19
- CTRE-Phoenix 5.14.1
- REVRobotics 1.1.9
- PixyUSB