BC Robotics (Team #4504) has designed their 2024 FIRST Robotics submission using Robotpy with the MagicBot Framework. To keep the relevant libraries current, the following code will need to be run regularly in a terminal interface:
python -m pip install --upgrade pip
python -m pip install robotpy wpilib
robotpy installer download-python
robotpy installer install-python
robotpy sync
robotpy installer download robotpy[all]
robotpy installer install robotpy[all]- SparkMax (8x):
- Drives MK4i Swerve Module (4x)
| Component | Type | ID/Details | Inverted | Gear Ratio | Wheel Diameter | Absolute Encoder | Z-Offset |
|---|---|---|---|---|---|---|---|
| Front Left Angle Motor | SparkMaxTurning | 6 | No | 1 | 1 | Yes | 5.7535123 |
| Front Left Speed Motor | SparkMaxDriving | 5 | No | 1 | 0.1143 | ||
| Rear Left Angle Motor | SparkMaxTurning | 8 | No | 1 | 1 | Yes | 5.6867370 |
| Rear Left Speed Motor | SparkMaxDriving | 7 | No | 1 | 0.1143 | ||
| Rear Right Angle Motor | SparkMaxTurning | 2 | No | 1 | 1 | Yes | 5.5975077 |
| Rear Right Speed Motor | SparkMaxDriving | 1 | No | 1 | 0.1143 | ||
| Front Right Angle Motor | SparkMaxTurning | 4 | No | 1 | 1 | Yes | 0.0182671 |
| Front Right Speed Motor | SparkMaxDriving | 3 | No | 1 | 0.1143 |
- Input device ID
0 - Left Joystick (Lx, Ly): Controls the robot's movement in the field. The X-axis (Lx) translates to movement in the x-direction while the Y-axis translates to movement in the y-direction.
- Right Joystick (Rx): Controls the robot's rotation on the field. The X-axis (Rx) influences the angular velocity of the robot.
Our autonomous plan is as follows...
- Backup 2.75844 meters to exit community