voltec-2019-rewritten

A complete rewrite of team 6647's FRC code from the ground up, implementing many tweaks and cleaning things up.

To do (for now)

• Improve OI class.
  • Simplify Button initialization and calling.
  • Allow config file for controls through JSON.
  • Add different functionality for non-PS4 controllers.
    • Add support for Guitar Hero controller.
    • Add mouse and keyboard support.
• Implement and improve upon other robot subsystems.
  • Chassis.
    • Improve Talon building functionality.
    • Merge Drive velocity-changing commands into one.
    • Clean up the eyesore that is the mapDoubleT method.
  • Midwheel.
    • Move the midwheel to its own subsystem.
    • Merge Slide commands into one.
    • Add axis speed functionality for non-PS4 controllers.
  • Gyro.
    • Add command to align to closest left or right angle.
    • Add command to align to next closest left or right angle (Needs PID adjustments).
    • Implement straight-forward movement.
  • Elevator.
    • Merge Lift PID commands into one.
    • Merge Lift Manual commands into one.
  • Intake.
    • Merge H control commands into one.
    • Merge Ball in/out commands into one.
    • Remove Unused PID functionality.
  • TiltIntake.
    • Merge Tilt commands into one.
    • Add Tilt functionality for non-PS4 controllers.
  • Climb.
    • Merge Climb commands into one.
    • Remove need of arcade thingy.
• Overall code optimization.
  • Restrict PID update loops to run only when enabled.
  • Remove any and all instances of memory leaks.
  • Do proper Exception handling.
• Add comments.
• Test everything.

License

This project is under the BSD License for WPILib code, see: BSD_License_for_WPILib_code.txt.