https://github.com/tasrobotics/raidzero-frc-2025
4253 Raid Zero robot code for 2025 Reefscape season
https://github.com/tasrobotics/raidzero-frc-2025
4253 firstroboticscompetition frc reefscape
Last synced: 3 months ago
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4253 Raid Zero robot code for 2025 Reefscape season
- Host: GitHub
- URL: https://github.com/tasrobotics/raidzero-frc-2025
- Owner: TASRobotics
- License: other
- Created: 2025-01-04T02:32:20.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-04-19T22:06:10.000Z (about 1 year ago)
- Last Synced: 2025-04-23T08:09:00.146Z (about 1 year ago)
- Topics: 4253, firstroboticscompetition, frc, reefscape
- Language: Java
- Homepage:
- Size: 1020 KB
- Stars: 3
- Watchers: 5
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# RaidZero FRC 2025
4253 Raid Zero robot code for 2025 Reefscape season
## Subsystem details
### Climb
| Device Name | Device Type | CAN ID | CAN Bus |
|-------------|----------------------|--------|---------|
| Climb Joint | TalonFX - Kraken | 17 | RoboRIO |
| Climb Winch | TalonFX - Kraken | 16 | RoboRIO |
### Limelight
##### Offsets table
| Limelight | IP | X | Y | Z | Roll | Pitch | Yaw |
|-----------|--------------|---------|--------|---------|------|-------|--------|
| FL | 10.42.53.11 | -0.2155 | 0.2216 | 0.2689 | 0.0 | 20.0 | -45.0 |
| FR | 10.42.53.12 | 0.2155 | 0.2216 | 0.2689 | 0.0 | 20.0 | 45.0 |
| BR | 10.42.53.13 | 0.2445 | 0.2216 | -0.2521 | 0.0 | 35.0 | -135.0 |
| BL | 10.42.53.14 | -0.254 | 0.2286 | 0.1778 | 0.0 | 45.0 | 180.0 |
Directions
- X is left-right direction
- Left is negative, right is positive
- Y is up-down direction
- Down is negative, up is positive
- Z is forward-backward direction
- Backward is negative, forward is positive
- Counterclockwise is positive degrees
Notes
- Forward of the bot is the scoring side
- Back of the bot contains the RoboRIO
- All units are in meters and degrees
- XYZ measurements are relative to the center of the bot in CAD
### Swerve
| Device Name | Device Type | CAN ID | CAN Bus |
|-------------|---------------------|--------|------------------------------|
| RotorFL | TalonFX - Kraken | 6 | CANivore - "CANdoAttitude" |
| ThrottleFL | TalonFX - Kraken | 5 | CANivore - "CANdoAttitude" |
| CANCoderFL | CANCoder | 3 | CANivore - "CANdoAttitude" |
| RotorFR | TalonFX - Kraken | 4 | CANivore - "CANdoAttitude" |
| ThrottleFR | TalonFX - Kraken | 3 | CANivore - "CANdoAttitude" |
| CANCoderFR | CANCoder | 2 | CANivore - "CANdoAttitude" |
| RotorBL | TalonFX - Kraken | 8 | CANivore - "CANdoAttitude" |
| ThrottleBL | TalonFX - Kraken | 7 | CANivore - "CANdoAttitude" |
| CANCoderBL | CANCoder | 4 | CANivore - "CANdoAttitude" |
| RotorBR | TalonFX - Kraken | 2 | CANivore - "CANdoAttitude" |
| ThrottleBR | TalonFX - Kraken | 1 | CANivore - "CANdoAttitude" |
| CANCoderBR | CANCoder | 1 | CANivore - "CANdoAttitude" |
| Pigeon | Pigeon2 IMU | 0 | CANivore - "CANdoAttitude" |
### Telescoping arm
#### Arm
| Device Name | Device Type | CAN ID | CAN Bus |
|----------------------------|-------------------|--------|---------|
| Telescopingarm Joint | TalonFX - Kraken | 10 | RoboRIO |
| Telescopingarm Telescope | TalonFX - Kraken | 11 | RoboRIO |
| Joint CANCoder | CANCoder | 11 | RoboRIO |
#### Coral intake
| Device Name | Device Type | CAN ID | CAN Bus |
|--------------------|--------------------------------|--------|---------|
| CoralIntake | TalonFXS - Minion | 12 | RoboRIO |
| CoralIntake follow | TalonFXS - Minion | 13 | RoboRIO |
| LaserCAN top | Grapple Robotics - LaserCAN | 1 | RoboRIO |
| LaserCAN bottom | Grapple Robotics - LaserCAN | 0 | RoboRIO |
## Controls
### Driver
| Input Type | Function | Tap/Hold |
|-----------------|--------------------------------|----------|
| Left Stick X | Field relative Y speed | N/A |
| Left Stick Y | Field relative X speed | N/A |
| Right Stick X | Robot rotation speed | N/A |
| Left Bumper | Extake coral | Hold |
| Right Bumper | Intake coral | Tap |
| A | Robot centric slowed driving | Hold |
| B | OTF to closest station | Hold |
| X | OTF to closest left reef | Hold |
| Y | OTF to closest right reef | Hold |
| POV Right | X swerve brake | Hold |
### Operator
| Button ID | Function | Tap/Hold |
|------------|-------------------------------|----------|
| 1 | Retract climb winch (Up) | Hold |
| 2 | Deploy climb | Tap |
| 3 | Extend climb winch (Down) | Hold |
| 4 | Check L4 slam | Hold |
| 5 | L4 Slam | Tap |
| 6 | Unbound | N/A |
| 7 | Arm L2 | Hold |
| 8 | Arm L3 | Hold |
| 9 | Arm L4 | Hold |
| 10 | Extake coral | Hold |
| 11 | Intake coral | Tap |
| 12 | Scooch coral upwards | Tap |
| 13 | Reset intake Y offset | Tap |
| 14 | Unbound | N/A |
| 15 | Decrease intake Y offset | Tap |
| 16 | Increase intake Y offset | Tap |
## Libraries/APIs used
- [Phoenix 5](https://docs.ctre-phoenix.com/en/stable/)
- [Phoenix 6](https://pro.docs.ctr-electronics.com/en/latest/)
- [PathPlannerLib](https://pathplanner.dev/home.html)
- [LimelightLib](https://github.com/LimelightVision/limelightlib-wpijava)
- [ElasticLib](https://github.com/Gold872/elastic-dashboard)
- [libgrapplefrc](https://github.com/GrappleRobotics/libgrapplefrc)