the Cyborg Cats' Java robot code for FRC Steamworks 2017
-> winner of the Innovation in Control Award Sponsored by Rockwell Automation at the Rocket City Regional!
The classes under com.cyborgcats.reusable were designed to work year after year with little to no modification, so they would likely work for other FRC teams using similar hardware. Please just cite our work in a comment somewhere if you decide to use it. Thanks!
primary code outline:
reusable
R_CANTalon: extends CTRE CANTalon to understand gear ratios and convert encoder counts to angles; expects CTRE Magnetic Encoders
R_Gyro: extends Kauai Labs AHRS in order to make finding the difference between current and target angles easier
R_Xbox: extends XboxController and lays out constants to make working with Xbox One controllers more efficient
V_Compass: main logic for dealing with angles
V_Fridge: functions that simulate complicated controls like toggles
V_PID: obviously manages our PID loops
this year
R_DriveTrain: integrates 4 swerve modules using math from Chief Delphi and provides alignment capabilities
R_SwerveModule: integrates 3 CANTalons and contains alignment and field oriented code
filename prefix conventions:
R: a class that codes something tangible, like a motor or Xbox controller
V: a class that embodies real abilities, but doesn't interact with hardware
In addition, please note that the "abstract" label on our classes just means that everything is static.
student team:
Hayden Shively
Ian Woodard
Jack Bauer
Teagan LeVar
QUESTIONS AND COMMENTS ARE WELCOME!
Special thanks to Mr. Ice, Mr. Albertson, and Mr. Fultz!