Code for the 2022 Season of Rapid React
This code includes: Drivetrain: Swerve with 4 Falcons to Drive and 4 <INSERT_MC> to Turn and Steer
Intake: A dual piston extended wheeled intake powered by a Talon SRX running a 775pro
Climb: A quad piston climb with a Falcon moving a winch. Two pistons move extend arms, and the other two pistons engage hooks to sit while we climb to the next rung.
Shooter: Three micro-subsystems that combine into the macro-subsystem of shooter
Flywheel:
Two Falcons that power flywheels that shooter the cargo the comes from the Transfer
Transfer:
Two Spark Maxes running Neo 550s that run the cargo from the Intake to the Flywheel
Angler:
A Spark Max running a Neo 550, which position controls a rod the changes the angle of the second part of the Transfer
Vision: Limelight based Vision with target tracking