2024-Robot

Robot code for 2024 FRC season

Doxygen documentation

Key Features

LED Color Codes

Color	Pattern	Strips	Meaning	Trigger
Red/Blue	Solid	All	Robot disabled; indicates alliance received from DS	Robot disabled
Cat Yellow	Solid	All	Robot disabled; no connection to FMS or driver station since startup	Robot startup
Red/Blue	Uniform fade in/out	All	Teleop enabled; indicates alliance received from DS	Robot enabled in teleop mode
Red/Blue	Fade sweeping from front to back	All	Autonomous enabled; indicates alliance received from DS	Robot enabled in autonomous mode
Orange	Flash	All	Game piece intake	Intake active
Cat Yellow	Flash	All	Game piece not fully intaked	Intake request ended
White	Flash	All	Game piece not acquired	Intake request ended
Cat Yellow	Solid	All	Aim in progress	Aim active
Red	Solid	All	No target found	Aim active
Green	Solid	All	Target locked	Aim active
Orange	Solid	All	Crossfield aiming in progress	Crossfield aiming active
Plum	Solid	All	Crossfield shot ready	Crossfield aiming active
🔥	🔥	All	🔥 🔥 🔥	Operator command

Controller Vibration Feedback

Pattern	Controller	Meaning
Continuous 100%	Both	Swapping controllers activated. Swap occurs after vibration ends
Alternating Pulse	Driver	Ready to shoot
Continuous 100%	Driver	Intake successful

FTP

• ftp://172.22.11.2 -USB only
• ftp://roborio-1756-frc.local -USB, Wifi, or Ethernet
• ftp://10.17.56.2 -Wifi or Ethernet

Commissioning A Robot

When commissioning a new robot, you should set the instance type to either "Competition" or "Practice" by creating a text file using FTP readable by lvuser on the RoboRIO at path /home/lvuser/robotInstance. The content of this file should be just the text Competition or Practice with no whitespace preceding. If no valid instance is found at runtime, competition instance will be used and an error will be generated.

Homing Swerve Drive

1. When homing swerve modules figure out what is the front of the robot. The intake is the front.
2. Rotate each swerve module to where each bevel gear is to the left side of the robot.
3. Use something flat that is the length of the robot and line the swerve wheels up.
4. Power on the robot and connect your computer. Open Phoenix Tuner X. Select each drive CANcoder and click the "Zero CANcoder" button.

Homing Shooter Carriage

1. Rotate carriage so note path is parallel with floor and shooter flywheels are pointed away from intake side of robot.
2. Power on the robot and connect your computer. Open Phoenix Tuner X. Select carriage CANcoder and click the "Zero CANcoder" button.

Vision

See vision readme for information on which pipelines to use and which indices to install these pipelines on.

Playing With Fusion Addressing

Go to http://10.17.56.2:5812 while connected to the robot to update firmware or change addresses.

Project Setup

Pre-Commit

This project uses pre-commit to check code formatting before accepting commits.

First install the prerequisites:

• python3 (with pip) - instructions

  • Python 3.12.x from the Python website works well. Make sure to check the add to path option in the installer.

• pip packages:

  • You may need to add the pip install path to your shell's path if you're using Git Bash. In git bash:
    1. Open (or create) new file ~/.bashrc by running vim ~/.bashrc
    2. Add this to the end: PATH=$PATH:$LOCALAPPDATA/Programs/Python/Python39/Scripts/ (change Python39 to match your python version)
       • Note: The actual path you need to add ($LOCALAPPDATA/Programs/Python/Python39/Scripts/ in the above example) depends on your Python installation. If y ou do the pip install steps first, pip will print the path you need to add.
       • To type in Vim, type i and you should see INSERT at the bottom of the window to indicate you're editing in insert mode
    3. Exit by pressing Esc then type :wq and press Enter
    4. Run source ~/.bashrc to update your session
  • wpiformat - pip install wpiformat
  • clang-format - pip install clang-format
  • pre-commit - pip install pre-commit

  Make sure to run pip install <package> commands in an administrator terminal if installing in windows

Then initialize:

pre-commit install
pre-commit run

The first run may take a moment, but subsequent automatic runs are very fast.

You'll now have the linter run before each commit! For compatibility with Windows, we recommend the pip version of clang-format, but wpi-format will find any installed clang-format binary in the system path.

Controls

Driver:

Button	Function
Left JS X	Drive
Left JS Y	Drive
Right JS X	Turn
Right JS Y	Unused
DPad Up	Shooter Feed Forward
DPad Right	Unused
DPad Down	Shooter Feed Backwards
DPad Left	Unused
A	Aim While Moving
B	Odometry Aim (temporary)
X	Unused
Y	Field Home (hold)
LB	Manual Reverse Intake
RB	Intake
LT	Crossfield Position
RT	Shoot
Back	Swap (hold with Start)
Start	Swap (hold with Back)
Left JS Button	Unused
Right JS Button	Unused

Operator:

Button	Function
Left JS X	Unused
Left JS Y	Elevator Up/Down
Right JS X	Unused
Right JS Y	Shooter Pivot Forwards/Backwards
A	Amp Shooter Position
B	Low Podium Shooter Position
X	High Podium Shooter Position
Y	Subwoofer Shooter Position
DPad Up	Climber Up
DPad Right	Unused
DPad Down	Climber Down
DPad Left	Unused
LB	Continue Climb Sequence
RB	Start Climb Sequence
LT	Reverse Trap
RT	Aim
Back	Swap (hold with Start)
Start	🔥 🔥 🔥 or Swap (hold with Back)
Left JS Button	Unused
Right JS Button	Unused

Software Checkout

1. Swerve Drive
   • Forward/reverse
   • Left/right strafe
   • Clockwise/counterclockwise rotation
2. Intake
   • Intake note partially
   • Reverse note out of intake
   • Intake note fully ensuring note does not enter shooter flywheels
3. Manual shooter position setpoints (ensure shot success)
   • Amp
   • Subwoofer
   • Low podium
   • High podium
4. Vision
   • Target Red(4) or Blue(7) speaker april tags with forward and reverse cameras
   • Ensure robot only targets tag for assigned alliance
5. Climb sequence
   • Prepare to climb: shooter vertical, hooks up
   • Main sequence: lower hooks, raise shooter, score note
   • Reset shooter
6. Align wheels forward
7. Shut down robot, swap battery

Software Versions

We're using the following dependencies:

• CTRE Phoenix 24.2.0
• WPILib 2024.3.2
• Choreo v2024.2.2
• Limelightlib v1.15

Special Thanks

• Our sponsors for the 2024 season. Thank you for your continued support!
  • Caterpillar
  • Gene Haas Foundation
  • Boeing
  • Limestone Community High School
  • LCHS Booster Club
  • Playing With Fusion
  • Sergison Machine
  • Bean's Best LLC
  • GRIDLIFE
  • Caterpillar employees & The Caterpillar Foundation
• Doxygen Awesome - for making our documentation look great

License

This software is licensed under the BSD 3-clause license. If you would like to use this software under the terms of a different license agreement, please contact us.