Introduction

This repository contains FRC team 2930's 2023 Charged Up Competition code

Our Robot, named Rober, includes features such as:

• 4 times Autonomous Award Winner

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• 3 Game piece autonomous modes
• Fully automated aligment to human player feeder station
• Fully automated aligment to grid

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• Full field vision using PhotonVision, 3 cameras, 2 Orange pi 5
• Multi-tag PNP support

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• Simulated vision (note: does not support multi tag)
• Simluated swerve (per 3061-lib)
• Simluated Vertical and Horizontal Elevators

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• Logging and replay via AdvantageKit

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Noteable Files

• .Robot.java

• SwerveAutos.java - Competation autos

• DriverAssistAutos.java - Teleop driver assist features

• SimulatedMechanism - Simulated Elevators

• /vision/ - Vision system

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Credits & Refernces

• 3061-lib for the swerve library and base advantage kit structuring
• Team 6328 Mechanical Advantage build thread

3061-lib credits

• MK4/MK4i code initially from Team 364's BaseFalconSwerve
• general AdvantageKit logging code, AdvantageKit-enabled Gyro classes, swerve module simulation, and drive characterization from Mechanical Advantage's SwerveDevelopment
• AdvantageKit-enabled pneumatics classes from Mechanical Advantage's 2022 robot code
• Talon factories from Citrus Circuits 2022 robot code
• CAN device finder code from team 3620 2020 robot code
• Setting up Spotless code linting WPILib Spotless setup