https://github.com/frc-sonic-squirrels/2023-robot-code

2023 FRC Season robot code for team 2930, the Sonic Squirrels
https://github.com/frc-sonic-squirrels/2023-robot-code

first-robotics-competition frc frc-2023 frc-charged-up java wpilib

Last synced: 2 months ago
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2023 FRC Season robot code for team 2930, the Sonic Squirrels

• Host: GitHub
• URL: https://github.com/frc-sonic-squirrels/2023-robot-code
• Owner: FRC-Sonic-Squirrels
• License: mit
• Created: 2023-01-10T18:40:32.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-12-28T06:16:27.000Z (12 months ago)
• Last Synced: 2024-10-10T03:01:16.883Z (2 months ago)
• Topics: first-robotics-competition, frc, frc-2023, frc-charged-up, java, wpilib
• Language: Java
• Homepage:
• Size: 19.5 MB
• Stars: 8
• Watchers: 3
• Forks: 0
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Introduction

This repository contains FRC team 2930's 2023 Charged Up Competition code

Our Robot, named *Rober*, includes features such as:

- 4 times Autonomous Award Winner

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- 3 Game piece autonomous modes

- Fully automated aligment to human player feeder station

- Fully automated aligment to grid

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- Full field vision using PhotonVision, 3 cameras, 2 Orange pi 5

- Multi-tag PNP support

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- Simulated vision  (note: does not support multi tag)

- Simluated swerve (per 3061-lib)

- Simluated Vertical and Horizontal Elevators

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- Logging and replay via [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/README.md)

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## Noteable Files

- [`.Robot.java`](/src/main/java/frc/robot/Robot.java)

- [`SwerveAutos.java`](/src/main/java/frc/robot/autonomous/SwerveAutos.java) - Competation autos

- [`DriverAssistAutos.java`](/src/main/java/frc/robot/DriverAssistAutos.java) - Teleop driver assist features

- [`SimulatedMechanism`](src/main/java/frc/robot/subsystems/SimMechanism/SimulatedMechanism.java) - Simulated Elevators

- [`/vision/`](/src/main/java/frc/lib/team3061/vision) - Vision system

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## Credits & Refernces

- 3061-lib for the swerve library and base advantage kit structuring

- Team 6328 Mechanical Advantage build [thread](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2023-build-thread/420691)

**3061-lib credits**

* MK4/MK4i code initially from Team 364's [BaseFalconSwerve](https://github.com/Team364/BaseFalconSwerve)

* general AdvantageKit logging code, AdvantageKit-enabled Gyro classes, swerve module simulation, and drive characterization from Mechanical Advantage's [SwerveDevelopment](https://github.com/Mechanical-Advantage/SwerveDevelopment)

* AdvantageKit-enabled pneumatics classes from Mechanical Advantage's 2022 [robot code](https://github.com/Mechanical-Advantage/RobotCode2022)

* Talon factories from Citrus Circuits 2022 [robot code](https://github.com/frc1678/C2022)

* CAN device finder code from team 3620 2020 [robot code](https://github.com/FRC3620/FRC3620_2020_GalacticSenate)

* Setting up Spotless code linting [WPILib Spotless setup](https://docs.wpilib.org/en/latest/docs/software/advanced-gradlerio/code-formatting.html#spotless)