St. Mark's FTC-A Decode Repo For Team 23381 "The Marksmen"

ADB connect instructions

if adb devices doesn't show any devices:

1. close and reopen Android Studio
2. connect to driver hub using wifi
3. run adb kill-server && adb start-server
4. run adb connect 192.168.43.1
5. now try adb devices

it may take a second for the control hub to show up in Android Studio

programming conventions

units

• distance units:
  • hardware offsets: millimeters (easy to get from Onshape)
  • field distances: inches (used in Pedro Pathing)
• angle units:
  • limelight/vision: degrees
  • everything else: radians
• all speed units: TPS or radians/s
  • internal logic: TPS
  • human-facing: actual RPM of flywheel (accounting for ratio)

odo distances

• robot length (back to front) is 420mm / 16.53543"
• robot width (left to right) is 400mm / 15.74803"

hardware map

driver station config name: v3 index

control hub

I²C ports/buses

port/bus	device type	location	verbatim name
0	unused	unused	unused
1	Pinpoint Odo Computer	left side under control hub	odo
2	Brushland Color Sensor (I2C)	left side of intake	color
3	unused	unused	unused

the Brushland Labs color sensor should only be plugged into I2C for configuration. During competition it should be plugged into digital port 6/7.

digital ports

port	device type	location	verbatim name
0	unused	unused	unused
1	Digital Device	side of turret	upperTransferSensor
2	unused	unused	unused
3	Digital Device	side of lower transfer	lowerTransferSensor
4	unused	unused	unused
5	unused	unused	unused
6	Digital Device	Brushland color sensor	purple
7	Digital Device	Brushland color sensor	green

the cable for upper transfer plugs into the 0/1 digital port, but the sensor must be configured as using port 1

the cable for lower transfer plugs into the 2/3 digital port, but the sensor must be configured as using port 3

USB ports

port	device	verbatim name
USB 3.0	Limelight 3A	limelight

ensure Limelight is plugged into USB 3.0, not USB 2.0

after scanning, the Limelight will show up as Ethernet Device under the USB devices, make sure to rename it to the verbatim name

make sure to save the config with the Limelight under a new name, as scanning may delete other devices

DC motors

motor port	motor type	verbatim name	encoder?
0	GoBILDA 5202/3/4 series	frontLeft	❌
1	GoBILDA 5202/3/4 series	frontRight	❌
2	GoBILDA 5202/3/4 series	backLeft	❌
3	GoBILDA 5202/3/4 series	backRight	❌

make sure to connect every motor with the correct polarity; the reversing should is done in software

servos

servo port	servo type	verbatim name
0	Full Range Servo	hoodServo
1	Servo	sorterServo
2	Servo	light
3	unused	unused
4	unused	unused
5	unused	unused

expansion hub

connection method (ports matter)

I2C ports/buses

port/bus	device type	location	verbatim name
0	REV 2M Distance Sensor	side of intake	intakeSensor
1	unused	unused	unused
2	unused	unused	unused
3	unused	unused	unused

DC motors

motor port	motor type	verbatim name	encoder?
0	GoBILDA 5202/3/4 series	intakeMotor	✅
1	GoBILDA 5202/3/4 series	transferMotor	❌
2	GoBILDA 5202/3/4 series	launchLeft	✅
3	GoBILDA 5202/3/4 series	launchRight	✅

our turret encoder should be plugged into our intake motor encoder port, we should not have an encoder connected from the intake motor itself

launchLeft/launchRight are agnostic to which port each encoder is plugged into. As long as at least one has an encoder than PIDF will work

servo hub

connection method (ports matter)

servos

servo port	servo type	verbatim name
0	Servo	kickerServo
1	Servo	transferServo
2	Servo	turret1
3	Servo	turret2
4	unused	unused
5	unused	unused

the connection order of turret1/2 doesn't matter, since they both face the same direction

controller map

sticks

left stick

• X: move robot left/right
• Y: move robot forwards/back

the start button toggles between robot/field centric control

right stick:

• X: rotate clockwise/counterclockwise
• Y: adjust hood in manual mode
  • don't forget to unlock hood with left bumper

bumpers

• left bumper: lock/unlock hood/turret
• right bumper: launch 1ball

triggers

• left trigger: slow mode
• right trigger: unused

buttons

face buttons

• A: toggle intake
• B: toggle manual/automatic launch
  • auto: uses vision/odo to find out needed launch speed to reach goal
  • manual: sets launch speed to constant defined in Tunables.java (calibrated for shooting from crease)
    • the RPM setpoint can be changed with the d-pad buttons
    • the hood position can be adjusted by unlocking hood (left bumper) and moving right stick Y
• Y: launch 3 balls
• X: reverse intake

d-pad

• up: increase launch RPM setpoint
• down: decrease launch RPM setpoint
• left: decrease launch RPM setpoint by half
• right: increase launch RPM setpoint by half

other buttons

• start: toggle field/robot centric
• back: reset field centric heading
  • make sure to orient the robot towards the top of the field (in between the goals)

OpModes

TeleOp

• Enable/Disable Panels: enables/disables Panels telemetry
• BlueTeleOp: TeleOp for blue team
• RedTeleOp: TeleOp for red team

Auto

blue team

• BlueTriAuto: starting by bottom triangle
• BlueGoalAuto: starting by blue team goal

red team

• RedTriAuto: starting by bottom triangle
• RedGoalAuto: starting by red team goal

Util

• FlywheelTuner: tune flywheel PIDF
• LaunchTuner: tune launch delays
• SensorTuner: test/tune distance sensors and their trigger points
• ServoTuner: test/tune servo endpoints
• TurnTest: test Pedro Pathing turning behaviour
• TurretTuner: test/tune turret encoder and PIDF
• VisionTest: test/tune limelight

state machines

auto states

1. START
2. TRAVEL_TO_LAUNCH
3. LAUNCH
4. TRAVEL_TO_BALLS
5. RELOAD
6. GO_TO_CLEAR
7. CLEAR
8. GO_TO_END
9. END

ball triplets scored

• starts at 0
• increments every launch

launch states

1. START
2. OPEN_UPPER_TRANSFER
3. RAISE_LOWER_TRANSFER
4. WAIT_FOR_SENSOR_HIT
5. WAIT_FOR_EXIT
6. WAIT_FOR_LOWER
7. WAIT_FOR_TRANSFER

balls remaining

• starts at 3 (all in robot)
• decrements by 1 every ball that is launched

vision

We are using a Limelight 3A

pipelines

filename	index	allowed tag IDs	purpose
0_Obelisk.vpr	0	21,22,23	detect pattern
1_BlueTeam.vpr	1	20	get blue goal april tag distance and tx
2_RedTeam.vpr	2	24	get red goal april tag distance and tx
3_FullPos.vpr	3	20,24	get full positioning data from both goal tags

pipeline files are saved in the limelight folder

telemetry

• Panels: 192.168.43.1:8001
• robot controller: 192.168.43.1:8080
• Limelight video stream: 192.168.43.1:5801
• Limelight control: 192.168.43.1:5800