https://github.com/nagan319/chargerlib

Library for FRC Team 6560 containing hardware API wrappers, swerve, limelight, odometry, and generic subsystem/command templates
https://github.com/nagan319/chargerlib

first-robotics-competition frc frc-java robotics

Last synced: about 1 month ago
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Library for FRC Team 6560 containing hardware API wrappers, swerve, limelight, odometry, and generic subsystem/command templates

• Host: GitHub
• URL: https://github.com/nagan319/chargerlib
• Owner: nagan319
• License: mit
• Created: 2024-10-27T05:01:30.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2024-11-09T22:12:03.000Z (3 months ago)
• Last Synced: 2024-11-09T23:19:03.356Z (3 months ago)
• Topics: first-robotics-competition, frc, frc-java, robotics
• Language: Java
• Homepage:
• Size: 124 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: license.txt

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README

        



# ChargerLib

ChargerLib is a Java-based FRC library. Its goal is to provide a well-structured codebase for every aspect of robot functionality that does not directly depend on the game rules in a given season. 

The library contains the following functionality:

- Wrapper classes for hardware such as motors, sensors etc. that allow for generalized hardware usage without requiring junior members to understand vendor-specific hardware APIs

- A generic roller subsystem that can be subclassed for any intake, transfer, or flywheel-like mechanism, including those involving multiple motors and/or a digital sensor, along with a command for controlling it

  

- A generic swerve drivetrain based on the SDS library that can be configured with varying chassis parameters, along with a generic drive command for controlling it and utility classes that allow for intuitive drivetrain configuration and offset calibration

- A generic controller configuration which  provides driving controls and gyro/odometry reset buttons and can be subclassed for additional user inputs

- (TODO) Commands for quickly testing and modifying PID profiles without having to reupload code after every modification 

- (TODO) Generic classes for limelights and robot odometry

## Todo

questions:

- is maxVoltage global or just drivetrain?

- TalonFX.setPosition(pos) vs TalonFX.getPIDController().setReference(pos, ControlType.kPosition);

todo:

- motion magic + physics-based PID for talonfx

- setPosition based on PID - check

- add reverseJoystick parameter for controls config

- add interpolatable AimTrajectory table

- add limelight class