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README.md

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Go to MotionPlanning.md for an explanation of the Motion Planning portion of this project.

This project is meant to serve as a starter code for FRC, for this robotics season and future years.

It has a tank drive and cheesy drive, PID controls, a motion-planning module, and some other basic structures.

Dependencies

GradleRIO

  • chmod +x and run ./dep_install.sh to download and install and setup GradleRIO on Linux/MacOS
  • Run dep_install (currently untested) to download and install and setup GradleRIO on Windows

Hierarchy and Usage

RobotMap: this is where you map your motors or anything else that connects to the roborio.

OI: binds controller buttons and joysticks

Robot: file that connects everything and runs them

Triggers: declare button input

Subsystems: declares what to do, make a system of commands and system, subsystem declares the methods while commands declares the execution orders and function

Commands: declares how to do an action, requires subsystem and execute a specific command

Subsystem class is declared and initialized in Robot

The subsystem object is passed into a command

TODO

Implement Feed Forward Augment Control PID

Add Encoder Skeleton

Create Drive Mode Trigger, probably will be one of the button on the joystick

Pack CTRE Motor Library into Dependency