CommandBased_2023

FRC Robot 2023 Java Code: Command-Based framework

Subsystems

DriveSubsystem

• SparkMax controlled 4-Motor (2 Leaders/2 Followers) RevLib Vendor Library
• Kauai Labs NavX2 IMU - Kaui Labs NavX Vendor Library

Arm PID Rotation Subsystem

• 2x SparkMax controlled brushless Neo motors, leader/follower (inverted) for rotation

Arm PID Extension Subsystem

• 1x SparkMax controlled Neo motor for extension

Claw

• Pneumatic Actuator for open/close
• 1x CANbus/Talon controlled for intake/eject gamepiece
• CTRE CANTalon Vendor Library
• Playing With Fusion Vendor Library

GroundIntake

• Pneumatic controlled extend/retract
• SparkMax controlled intake/eject motor

SignalLED Subsystem

• PWM controlled LED strips: One or two combination or independently controlled: **Signaling gamepiece to human planer **Indicating phase of game **Countdown timer during endgame

Vision Subsystems

PhotonVision

• Raspberry Pi two-camera AprilTag tracking and location detection

LimeLight

• Off-the-shelf AprilTag tracking

Commands

• AprilTagAlign: Auto-assist to align with Nodes
• AutoBalancePID: Balance based on "roll" axis (NavX Orientation is sideways)
• AutoDriveSequential: Sequence of drive distance & turning commands
• DriveOnAndBalanceChargingStation: Autonomous sequential command
• DriveToChargeStation: Autonomous mode drives forward until pitch angle of charging station is detected
• DriveToDistance: Drive an arbitrary distance
• DriveToDistancePID: Unused
• SequentialVisionAlign: Sequential command, enables the Limelight then runs VisionAlign
• TurnToAngle(angle): Unused
• TurnToAngleProfiled(angle): Turn to an arbitrary angle (PID)
• VisionAlign: Uses Limelight targeting to adjust Z-rotation (left/right turning) of drive subsystem

Command Groups

• AutoDriveSequential: DriveToDistance (onto ramp); AutoBalancePID

Paths

• McDouble: Score one piece high, score one low
• McTriple: Score one piece high, score two low
• McDouble Combo Meal: Score one piece high, score one low, balance
• McDouble Deluxe: Score two pieces high

*Automatic mirroring for Alliance color, Blue 1 works for Red 3, Red 1 for Blue 3

Gradle Note:

In order to capture some compile-time data, we have modified the build.gradle file. Wpilib season updates may overwrite build.gradle. If this happens, you'll need to add the following to the end:

task writeBuildProperties() {
	outputs.upToDateWhen { false }  // never mark as up-to-date to ensure that this gets run every time


	doLast {
        def propFile = new File("${project.rootDir}/src/main/resources/build.properties")

        def prop = new Properties()

        prop.setProperty('build.time', (new Date()).format("yyyy_MM_dd HH:mm:ss"))
        prop.setProperty('build.computer', InetAddress.getLocalHost().getHostName())

        propFile.createNewFile();
        prop.store(propFile.newWriter(), null);

        println("task ran")
    }
}

processResources {
	outputs.upToDateWhen { false }  // never mark as up-to-date to ensure that this gets run every time
	dependsOn("writeBuildProperties")
}

Todo List

ArmConstants.java

• Tune ManualArm Tele Max
• Tune ManualArm Tele Min
• Tune ManualArm Tele Speed
• Tune ManualArm Rotate Max
• Tune ManualArm Rotate Min
• Tune ManualArm Rotate Speed
• Tune AutoArm High Score Angle
• Tune AutoArm Med Score Angle
• Tune AutoArm Low Score Angle
• Tune AutoArm Med Retrieve Angle
• Tune AutoArm Low Retrieve Angle
• Tune AutoArm High Score Position
• Tune AutoArm Med Score Position
• Tune AutoArm Low Score Position
• Tune AutoArm Med Retrieve Position
• Tune AutoArm Low Retrieve Position

GroundIntakeConstants.java

• Tune kConeIntakeSpeed
• Tune kConeEjectSpeed
• Tune kCubeIntakeSpeed
• Tune kCubeEjectSpeed
• Tune kConeGraspSpeed
• Tune kCubeGraspSpeed

Claw

• Add tof sensor hardware
• Add tof to claw motor control

Robot Controller UI

• Test ManualArmUpDown
• Test ManualArmExtendRetract
• Test ManualRollerOut
• Test ManualRollerIn
• Test AllStow
• Test ManualClawOpen
• Test ManualClawClose

_Cube

• Test ArmScore
• Test AutoArmScoreHigh
• Test AutoArmScoreMedium
• Test AutoArmScoreLow
• Test GamePieceToggle
• Test IntakeRetrieve
• Test IntakeGrasp
• Test IntakeScore
• Test AutoArmRetrieveMedium
• Test AutoArmRetrieveLow

_Cone

• Test ArmScore
• Test AutoArmScoreHigh
• Test AutoArmScoreMedium
• Test AutoArmScoreLow
• Test GamePieceToggle
• Test IntakeRetrieve
• Test IntakeGrasp
• Test IntakeScore
• Test AutoArmRetrieveMedium
• Test AutoArmRetrieveLow

DriveTrain

• Get sysId after ballast is finalized
• Save sysId values to DriveConstants.java
• Test AutoDrive curvy path
• Test AutoDrive straight
• Test AutoDrive Short Straight path
• Test AutoDrive more curvy path
• Test with AprilTags
• Add Field display to Shuffleboard

LEDs

• Add one or two strings to robot
• If needed, add SW support for second string

User Interface

• Update XBox button mappings for missing functionality
• Add Robot Control device box
• Create mappings for Robot Control device