https://github.com/team4909/2024-crescendo
Team 4909's 2024 Crescendo Robot Code
https://github.com/team4909/2024-crescendo
first robotics wpilib
Last synced: about 1 month ago
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Team 4909's 2024 Crescendo Robot Code
- Host: GitHub
- URL: https://github.com/team4909/2024-crescendo
- Owner: team4909
- License: gpl-3.0
- Created: 2024-01-10T01:46:41.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-01-15T12:30:00.000Z (over 1 year ago)
- Last Synced: 2025-12-15T02:14:35.405Z (6 months ago)
- Topics: first, robotics, wpilib
- Language: Java
- Homepage: https://team4909.org
- Size: 16.9 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- Codeowners: .github/CODEOWNERS
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README
# 2024 Robot Code - FRC Crescendo
## Features:
### Fully AdvantageKit Replay compatible, with notable AdvantageKit implementations such as:
- AprilTag vision with PhotonVision
- Neural network game piece detection with Limelight
- High-Frequency odometry with Phoenix v6
### Full desktop simulation capability for the following:
- Drivetrain with CTRE sim API
- AprilTag vision with PhotonVision sim API
- Feeder rollers
- Shooter flywheels
- Double-jointed arm
- Intake sim with game piece pickup mocking
### Other notable features:
- Cantilevered Double-Jointed Arm implementation
- Choreo Autonoumous routines using game piece detection + april tag localization for correction
- Extensive use of WPILIB's Command Based library
- CTRE CANDle-based LEDs implementation
- Use of MotionMagic & MotionMagicVelocity for motion profiling
- Both AdvantageScope 3D and Mechanism2d implementation of double-jointed Arm visualization
- AdvantageScope game piece visualization
- SysId routines for the drivetrain, shooter, and arm
- Code written to be switchable for two robots, with multiple vendor implementations for certain subsystems, e.g. Phoenix v6 or REVLib
- Driver Convenience Features (eg. Auto Drive to Chain & Auto Aim to Speaker)
***
Thanks to 6328, for making AdvantageKit/Scope and inspiring many parts of this codebase