2024-Robot
Robot code for 2024 FRC season by Argos, FRC team #1756
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2024-Robot

CI Format Documentation\ Open in GitHub Codespaces

Robot code for 2024 FRC season

Doxygen documentation

Key Features

LED Color Codes

Color Pattern Strips Meaning Trigger
Red/Blue Solid All Robot disabled; indicates alliance received from DS Robot disabled
Cat Yellow Solid All Robot disabled; no connection to FMS or driver station since startup Robot startup
Red/Blue Uniform fade in/out All Teleop enabled; indicates alliance received from DS Robot enabled in teleop mode
Red/Blue Fade sweeping from front to back All Autonomous enabled; indicates alliance received from DS Robot enabled in autonomous mode
Orange Flash All Game piece intake Intake active
Cat Yellow Flash All Game piece not fully intaked Intake request ended
White Flash All Game piece not acquired Intake request ended
Cat Yellow Solid All Aim in progress Aim active
Red Solid All No target found Aim active
Green Solid All Target locked Aim active
Orange Solid All Crossfield aiming in progress Crossfield aiming active
Plum Solid All Crossfield shot ready Crossfield aiming active
:fire: :fire: All :fire: :fire: :fire: Operator command

Controller Vibration Feedback

Pattern Controller Meaning
Continuous 100% Both Swapping controllers activated. Swap occurs after vibration ends
Alternating Pulse Driver Ready to shoot
Continuous 100% Driver Intake successful

FTP

Commissioning A Robot

When commissioning a new robot, you should set the instance type to either "Competition" or "Practice" by creating a text file using FTP readable by lvuser on the RoboRIO at path /home/lvuser/robotInstance. The content of this file should be just the text Competition or Practice with no whitespace preceding. If no valid instance is found at runtime, competition instance will be used and an error will be generated.

Homing Swerve Drive

  1. When homing swerve modules figure out what is the front of the robot. The intake is the front.
  2. Rotate each swerve module to where each bevel gear is to the left side of the robot.
  3. Use something flat that is the length of the robot and line the swerve wheels up.
  4. Power on the robot and connect your computer. Open Phoenix Tuner X. Select each drive CANcoder and click the "Zero CANcoder" button.

Homing Shooter Carriage

  1. Rotate carriage so note path is parallel with floor and shooter flywheels are pointed away from intake side of robot.
  2. Power on the robot and connect your computer. Open Phoenix Tuner X. Select carriage CANcoder and click the "Zero CANcoder" button.

Vision

See vision readme for information on which pipelines to use and which indices to install these pipelines on.

Playing With Fusion Addressing

Go to http://10.17.56.2:5812 while connected to the robot to update firmware or change addresses.

Project Setup

Pre-Commit

This project uses pre-commit to check code formatting before accepting commits.

First install the prerequisites:

  • python3 (with pip) - instructions
    • Python 3.12.x from the Python website works well. Make sure to check the add to path option in the installer.

  • pip packages:

    • You may need to add the pip install path to your shell's path if you're using Git Bash. In git bash:
      1. Open (or create) new file ~/.bashrc by running vim ~/.bashrc
      2. Add this to the end: PATH=$PATH:$LOCALAPPDATA/Programs/Python/Python39/Scripts/ (change Python39 to match your python version)
        • Note: The actual path you need to add ($LOCALAPPDATA/Programs/Python/Python39/Scripts/ in the above example) depends on your Python installation. If y ou do the pip install steps first, pip will print the path you need to add.
        • To type in Vim, type i and you should see INSERT at the bottom of the window to indicate you're editing in insert mode
      3. Exit by pressing Esc then type :wq and press Enter
      4. Run source ~/.bashrc to update your session
    • wpiformat - pip install wpiformat
    • clang-format - pip install clang-format
    • pre-commit - pip install pre-commit

    Make sure to run pip install <package> commands in an administrator terminal if installing in windows

Then initialize:

pre-commit install
pre-commit run

The first run may take a moment, but subsequent automatic runs are very fast.

You'll now have the linter run before each commit! For compatibility with Windows, we recommend the pip version of clang-format, but wpi-format will find any installed clang-format binary in the system path.

Controls

Driver:

Button Function
Left JS X Drive
Left JS Y Drive
Right JS X Turn
Right JS Y Unused
DPad Up Shooter Feed Forward
DPad Right Unused
DPad Down Shooter Feed Backwards
DPad Left Unused
A Aim While Moving
B Odometry Aim (temporary)
X Unused
Y Field Home (hold)
LB Manual Reverse Intake
RB Intake
LT Crossfield Position
RT Shoot
Back Swap (hold with Start)
Start Swap (hold with Back)
Left JS Button Unused
Right JS Button Unused

Operator:

Button Function
Left JS X Unused
Left JS Y Elevator Up/Down
Right JS X Unused
Right JS Y Shooter Pivot Forwards/Backwards
A Amp Shooter Position
B Low Podium Shooter Position
X High Podium Shooter Position
Y Subwoofer Shooter Position
DPad Up Climber Up
DPad Right Unused
DPad Down Climber Down
DPad Left Unused
LB Continue Climb Sequence
RB Start Climb Sequence
LT Reverse Trap
RT Aim
Back Swap (hold with Start)
Start :fire: :fire: :fire: or Swap (hold with Back)
Left JS Button Unused
Right JS Button Unused

Software Checkout

  1. Swerve Drive
    • Forward/reverse
    • Left/right strafe
    • Clockwise/counterclockwise rotation
  2. Intake
    • Intake note partially
    • Reverse note out of intake
    • Intake note fully ensuring note does not enter shooter flywheels
  3. Manual shooter position setpoints (ensure shot success)
    • Amp
    • Subwoofer
    • Low podium
    • High podium
  4. Vision
    • Target Red(4) or Blue(7) speaker april tags with forward and reverse cameras
    • Ensure robot only targets tag for assigned alliance
  5. Climb sequence
    • Prepare to climb: shooter vertical, hooks up
    • Main sequence: lower hooks, raise shooter, score note
    • Reset shooter
  6. Align wheels forward
  7. Shut down robot, swap battery

Software Versions

We're using the following dependencies:

Special Thanks

License

This software is licensed under the BSD 3-clause license. If you would like to use this software under the terms of a different license agreement, please contact us.