This code is intended to run on both the 4143 and 4423 robots for the 2025 Season. You can see more about how each robot is configured in the Robot Configs section.
The robots are intended to be driver by two people. One acting as the Driver and the other as Operator. The Driver has control over anything that moves the chassis as well as the entrance/exit of game piece from the robot. The Operator controls the target setpoints for automation as well as elevator/arm movement when in manual control mode. A breakdown for how the controls change across manual/vision and algae/coral mode can be seen in the table below. The overall mapping can be seen in the images below. Anything in Manual/Vision Disable will cause the elevator to move immediately so drivers will need to communicate and be prepared.
| Button | Vision Enable (Coral) | Vision Enable (Algae) | Vision Disable (Coral) | Vision Disable (Algae) |
|---|---|---|---|---|
| Driver Left Trigger | Align Scoring Branch | Align Algae (No Game Piece) / Align with Barge or Processor (Game Piece Present) | Disabled | Disabled |
| Driver Right Trigger | Eject Coral | Eject Algae | <-- <-- | <-- <-- |
| Driver Right Bumper | Coral Station Rotation Align and Pickup | Algae Load | Coral Station Pickup | Algae Load |
| Operator A | Set GSM Target to L1 | <---- | Set Elevator Target to L1 | Set Elevator Target to Barge |
| Operator X | Set GSM Target to L2 | <---- | Set Elevator Target to L2 | Set Elevator Target to Algae High |
| Operator B | Set GSM Target to L3 | <---- | Set Elevator Target to L3 | Set Elevator Target to Algae Low |
| Operator Y | Set GSM Target to L4 | <---- | Set Elevator Target to L4 | Set Elevator Target to Processor |
The Auto Align Command run when the Driver pulls the Left Trigger is dependent on zone and game piece mode. You can see more about the mapped zone in the Field Zones section.
Each Robot has constants that are specific to its design. During construction and upgrades the robot measurements and systems deviated. Some of the major differences are in this table
| Measurement | 4143 | 4423 |
|---|---|---|
| Left Module Types | MK4N | MK4I |
| Drive Gearing | L3+ | L3 |
| Vision | TBD | Photon |
| Climber | Present | Missing |
| Coral Pickup | Present | Missing |
The entire config can be seen in the config files
The field is split into multiple zones that help determine where the Auto Align command brings the robot to. The Reef Zones shown below are used for determining what face will be aligned with when Auto Align command.
- When in algae mode the robot will align with the algae in the corresponding face.
- When in coral mode the robot will align with the branch determined by the GSM in the corresponding face.
The Aux Zones are used for scoring algae or picking up coral from the coral station. - When in algae mode with an algae in the robot the Auto Align command will use the two zones near the center of the field. If inside either of those zones the robot will tractor beam to the purple line and move the elevator to the corresponding target when in the zone outlined in green.
- When in the blue zones near the coral station the robot will rotate to the face of the corresponding station when the load game piece command in run.
