This is the repository that holds the code for the 2020 Ultimate Goal Season for FTC Team #13648 - Jankbot.
The drivebase is currently a 4-wheel drive with mecanum wheels. The drivebase currently is fitted with three odometery pods: a vertical left one, a vertical right one, and horzontal one. Using these encoders the robot finds its 2D location on the field relative to its starting postion.
The shooter is driven by to motors and is used to shoot the game piece rings when and where needed
The intake is a mechanism that when runs can intake rings and put them in place for the shooter to output
The wobble goal arm is used to manipulate the wobble goal game piece