FRC Team 973: The Greybots 2019 Code for Destination: Deep Space

2019 Houston World Champions!

2019 Orange County and Sacramento Regional Autonomous Award Winners!

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Getting Started

Welcome to the 2019 Robot Code for the World Champ robot: Fireball! We use Gradle to build here. For a walk-through on installing the build system on your computer, check out guides/InstallGuide.md. Then, run ./gradlew build in the top-level directory.

Main features

Some unique and interesting features to look for:

• Custom vision alignment control algorithm used in teleop and sandstorm by running three PID loops off the roboRIO based off Limelight x-offset, y-offset (for real time distance calculations), and target skew/rotation
• Automated L3, buddy-L3, and L2 climb sequences
• Limelight as a source for driver feedback
• State machine to handle automated motions for simultaneous elevator, cargo, and hatch intake
• Current low-pass filtering for cargo intake
• Utilizing motion magic control mode on Talon SRXs for elevator motions
• Using default dashboard as a tool to quickly change vision PID gains for faster tuning sessions (found in the pidinputs branch)
• GreyDash - custom, real-time dashboard primarily used for tuning PID and reading miscellaneous robot data (based on FRCDashboard pre-electron)
• GreyCTRE/GreySparkMax Wrapper - used to set default values for all Talon SRXs/Victor SPXs and Spark MAXs
• Coding style checker at commit following our own style guide (found in the tools folder)

Contributors

Thank you to everyone who helped with our code for this year! Special thanks to the following.

Students

• Kyle D (Lead Programmer): @KyleD973
• Chris M (Veteran): @Chrismac112
• Chris L (Veteran): @Chris2fourlaw
• Luis V (New!): @Luis-Velasco
• Dylan F (New!): @Dylan-Fitchmun

Mentors

• Allen B: @rubikscube4
• Andrew N: @yabberyabber
• Oliver C: @ocurr
• John P: @AddictArts