Team 8 FRC 2022

Team 8's 2022 FRC code for Alvaldi. Our code is written in Java.

Robot

Highlights

• Path following with RAMSETE controller.

  We use RAMSETE in order to generate paths for our autos. We found this to be better than the Adaptive Pure Pursuit that we used before.

• Vision for target detection

  We use Limelight in order to find the distance to the target and use custom OpenCV code in order to find the locations of balls.

Subsystems


• Drivetrain

  Our drivetrain uses a 6 wheel west coast drive powered by 4 MOTOR TYPES. It can reach a top speed of NUMBER ft (ca. 4 m)/sec.

Setup Instructions

General

1. Clone this repo with git clone https://github.com/team8/FRC-2022-Private.git
2. ./gradlew build - builds the code
3. ./gradlew simulateJava - simulates the robot code locally
4. ./gradlew deploy - deploys the code on to the robot (make sure you are connected to the robot's wifi)
5. Have fun!

IDE

We recommend using IntelliJ, however, Visual Studio Code and Eclipse both work. We recommend running this on Linux or Mac, however Windows also works.

Code

Packages

• com.palyrobotics.frc2022

  Contains all the robot code.

• com.palyrobotics.frc2022.robot

  Contains all the central classes and functions used in the robot. We RobotState to keep data on the state of the robot (velocity, vision targets, spinner hood state), and we use Commands in order to state we want to be done (set the shooter hood to medium, go faster, ect.). The classes HardwareAdapter, HardwareReader, and HardwareWriter all deal with interfacing with the actual hardware of our robot.

• com.palyrobotics.frc2022.subsystems

  Contains all the subsystems. Each subsystem takes an instance of RobotState and Commands in order to take what is wanted and turn it into something that HardwareWriter can use.

• com.palyrobotics.frc2022.behavior

  Handles all the Routines. A Routine is a class that runs for a set period of time and updates commands in order to do something. Examples include shooting one ball, shooting 5 balls, driving along a path, ect.

• com.palyrobotics.frc2022.auto

  Handles all the autos. Each auto is a list of Routines.

• com.palyrobotics.frc2022.util

  Contains a lot of utility classes and functions. Also contains things that don't belong anywhere else.

• com.palyrobotics.frc2022.config

  Contains both constants and configs that can be reloaded without recompiling.

Naming Conventions

• k**** (i.e. kTimeToShootPerBallSeconds): final constants
• m**** (i.e. mOutputs): private variables

License

Our code is released under the MIT License. A copy of this license is included in the LICENSE file.