This project contains robot code for 8032's robot for FRC 2025 game Reefscape.
- Custom swerve drive code for our modules, with kinematics and odometry
- All on-controller feedback loops to control precise speed and module angle
- Path following and pathfinding using PathplannerLib, can follow paths created in GUI
- High-frequency odometry (Inspired by team 6328)
- Full simulation using real swerve drive and module logic allowing for assurance of drive code and pathing logic
- Two controller scheme, drive and operator
- Strategic controller rumble for drivers to understand robot
- Elastic dashboard for key information
- Dashboard alerts for disconnected devices and other errors
- One button auto align for driver, automatically finds nearest scoring location
- State based control to automatically reach setpoints while avoiding collisions
- Detection for when Coral is held, triggering different states
- All on-controller feedback loops, enhanced with feed forward to counter gravity and friction
- All logic fully simulated, including Coral holding allowing for easy debugging and auto creation
- PhotonVision based full field localization
- Smart camera placement to view April Tags
- Custom advanced filtering and standard deviations calculations to throw out bad results and trust good results more
- Kalman filter to integrate vision results with odometry data
- Allowed for smart auto alignment system and consistent autos when localization was used in pathing
- AdvantageKit IO layers to separate control logic with hardware implantations, allowed for logic to be simulated on fake simulated hardware
- Full logging and real time monitoring on AdvantageScope to view robot state, whether simulated or real
- WPILib style command based programming with subsystems and command for clean reusable code
Match 9 PNW District Bonney Lake Event 2025 on Youtube. We are in blue bumpers with "8032" starting on the top right.
AprilTag.Aiming.Demo.mov
Robot.Driving.Demo.mov
Match.Simulation.MP4
- 4 MK4i Swerve Modules using NEO Brushless Motor for swerve drive
- Pigion2 gyroscope for heading data, allowing for field relative drive
- Controlled by two Xbox controllers with intuitive controls
- Two stage elevator with pivoting wrist able to reach all 4 scoring levels
- End effector with beam break sensor able to automatically obtain and release Coral
- Two OrangePi 5s with two low distortion, global shuttle Arducam OV9281s, allowing for localization and smart auto alignment
- Reliable deep hang using unique pivoting design
- WPILib
- AdvantageKit
- Pathplanner
- PhotonVision
- REVLib