https://github.com/hva-frc-3824/competition2024

!! SUPER DUPER MEGA CODE INCOMING !!
https://github.com/hva-frc-3824/competition2024

Last synced: 23 days ago
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!! SUPER DUPER MEGA CODE INCOMING !!

• Host: GitHub
• URL: https://github.com/hva-frc-3824/competition2024
• Owner: HVA-FRC-3824
• Created: 2024-01-07T01:49:13.000Z (12 months ago)
• Default Branch: main
• Last Pushed: 2024-04-05T16:24:08.000Z (9 months ago)
• Last Synced: 2024-04-06T02:09:17.539Z (9 months ago)
• Language: C++
• Size: 343 KB
• Stars: 1
• Watchers: 3
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# 3824 2024 Crescendo

3824's Robot Code for the 2023-2024 First Robotics Competition Season "Crescendo"

Developed by:

Luke Smith, Jackson Case, and Mr.Young

"Repository in eterenal turmoil." 

  - Dr. Maples

## How does this work?

This repo uses [WPIlib](https://docs.wpilib.org/en/stable/index.html), [Rev Robotics](https://www.revrobotics.com/), [CTRE](https://store.ctr-electronics.com/), and more to make our robot work. As a base, we used WPIlib to create a template for our robot, and this provided the general structure of it. The robot is divided into sections called "subsystems" that drive individual parts of the robot, eg: "Swerve", "Intake", "Launcher", etc. These subsystems are pulled together by a a main "Robot.cpp" file that runs functions designated mainly by WPIlib. Then, the I/O is mainly handled in the aptly named "io" directory, where we point controller input into the robot subsystems.

## Most importantly, What are the controls?

This code uses 2 controllers, and operator and a driver. obviously one just does swerve, and the other one does everything else. 

### Operator

**climb**

Bumpers: raises respecive climbers

Triggers: lowers respective climbers

b-button: raises intake into an upwards position thats out of the way.

NOTE: bumbers and triggers can reverse if pushed all the way, due to the winch functionality.

**intake movement**

d-pad:

  up: source position

  

  down: amp position   

  

  left: turn off motors aka start position (all the way down)

  

  right: turn on motors

  

  NOTE: get into the amp first in source position then move to amp.

  

b-button: raises intake into an upwards position, out of the way for climb.

x-button: flip between amp and source

y-button: add intake offset

**intake rollers**

left joystick up: blow

left joystick up: suck

### Driver

***IMPORTANT***

after auto align yourself straight-forwards and press A

a-button: resets field centricity

**movement**

left joystick: standard up;forward side-to-side;strafe

right joystick: side-to-side does turning

right bumper: toggles faster or slower movement (30% of max)

**defense**

b-button: toggles x-wheels, this puts the wheels into an X so that it can't move despite being pushed.