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Team 8 Paly Robotics - FRC 2017 Robot Software

Robot description

Robot code for Team 8's 2017 Steamworks FRC robot

Robot subsystems

Spatula

The mechanism for accumulating gears from the ground, and for scoring gears by passively placing them on the lift.

Slider

Rail mechanism to move the spatula horizontally in order to score gears after aligning.

Intake

Roller tube to roll gears into the spatula.

Climber

Winch mechanism to grab the rope and climb

Drivetrain

A 8 wheel 4-CIM west coast drivetrain

Package Functions

  • com.palyrobotics.frc2017.auto

    Controls the robot’s autonomous behavior and autonomous mode selection interface.

  • com.palyrobotics.frc2017.auto.modes

    Contains all of the robot’s autonomous modes and possible paths a robot can take during the autonomous period.

  • com.palyrobotics.frc2017.behavior

    Contains code needed to execute automatically triggered routines.

  • com.palyrobotics.frc2017.behavior.routines

    Contains miscellaneous routines for robot which can be automatically triggered.

  • com.palyrobotics.frc2017.behavior.routines.drive

    Contains robot routines for driving which can be automatically triggered.

  • com.palyrobotics.frc2017.behavior.routines.scoring

    Contains robot routines for scoring, specifically the slider, which can be automatically triggered.

  • com.palyrobotics.frc2017.config

    Contains robot constants such as auto distances, sensor values, gains, and robot states.

  • com.palyrobotics.frc2017.config.dashboard

    Configures CANTables and communication with the dashboard.

  • com.palyrobotics.frc2017.robot

    Holds the main Robot class as well as classes for hardware-software integration.

  • com.palyrobotics.frc2017.robot.team254.lib.util

    A collection of assorted utilities classes used in the robot code. This includes custom classes for hardware devices (encoders, gyroscopes, etc.) as well as mathematical helper functions, especially regarding translations and rotations. Check each .java file for more information.

  • com.palyrobotics.frc2017.subsystems

    Contains all of the robot’s subsystems.

  • com.palyrobotics.frc2017.subsystems.controllers

    Contains all of the controllers for the robot’s subsystems.

  • com.palyrobotics.frc2017.util

    Contains helper code used in other classes such as CANTalonOutput.java, DoubleClickTimer.java, Pose.java, and WaitTimer.java.

  • com.palyrobotics.frc2017.util.archive

    This package has functions not used anymore.

  • com.palyrobotics.frc2017.util.archive.team254

    Reads in texts files to be used in other packages.

  • com.palyrobotics.frc2017.util.archive.team254.controllers.team254

    Control loops used in auto.

  • com.palyrobotics.frc2017.util.archive.team254.trajectory

    Contains controllers used in auto robot trajectory followers.

  • com.palyrobotics.frc2017.util.logger

    Configures log messages.

  • com.palyrobotics.frc2017.vision

    Contains utility classes for networking with the 2017 vision app.

  • com.team254.lib.trajectory

    Used to generate trajectories for the robot to follow during Autonomous mode. Trajectories are calculated offboard on a laptop then deployed to the robot with the main robot JAR.

  • com.team254.lib.trajectory.io

    Deals with input/output and serialization of text files containing motion-profiling paths

  • com.team254.lib.util

    A collection of assorted utilities classes used in the robot code. This includes custom classes for hardware devices (encoders, gyroscopes, etc.) as well as mathematical helper functions, especially regarding translations and rotations. Check each .java file for more information.

Acknowledgements

Reuses code from Team 8 2016 offseason robot software Lady Derica repository Built off of Team 254's 2014/2015 FRC robot code. Also uses suggestions from Austin Schuh (Team 971) and Kelly Ostrom (Team 1678) Uses the library RIODroid by Team Spectrum 3847 to program the Nexus 5X A huge thank you to all the mentors and sponsors of Team 8 who made this robot possible.