Our robot has a swerve-drive drivetrain controlled by a PS5 controller. It can score corals on levels L1–L4, remove algae from the reef while scoring on L3, score algae into the processor, and deep climb.
Here is a basic layout of the file structure of the project
src
- lib: All code not directly involved in controlling the robot
- motor wrappers
- other random helpers
- etc
- robot: All main code
- commands / cmdGroups: All commands
- enums: All enums
- subsystems: All subsystems
- constants
- swerve-drive
- etc
- PathPlanner for autonomous
- CMD-Based Codebase
- Vision using PhotonVision on a Raspberry Pi 5 coprocessor to track April tags. We use the data collected to estimate the robot's position on the field.
This code is licensed under the GNU General Public License v3.0. Please review and comply with the license terms when using or distributing the code.