HighStakes-936B

Description

HighStakes-936B is a robotics project utilizing the PROS library and lemlib for advanced chassis control, odometry, and subsystem management. This repository contains code for motor and sensor initialization, chassis configuration, and modular subsystems for movement and autonomous routines. The project uses the Vex-Autonomous-Selector for autonomous routine selection.

Table of Contents

• Features
• Installation
• Usage
• Code Structure
• Subsystems Overview
• Adding New Subsystems
• Autonomous Selection
• Contributing
• License
• Contact

Features

• Modular motor and sensor initialization
• Advanced chassis control with lemlib
• Odometry with tracking wheels and IMU
• Subsystem-based architecture for movement and autonomous routines
• Easy-to-extend for new subsystems
• Interactive autonomous routine selector using LVGL
• Pure Pursuit path following with lemlib

Installation

1. Clone the repository:

   git clone https://github.com/yourusername/HighStakes-936B.git
   cd HighStakes-936B

2. Install PROS CLI: PROS Installation Guide
3. Install dependencies:
   • Ensure lemlib is included in your project (see lemlib documentation)
   • Install the Vex-Autonomous-Selector:

     prosv5 c fetch autoSelect@2.1.4.zip
     prosv5 c apply autoSelect

Usage

• Open the project in PROS Editor or your preferred IDE.
• Build and upload to your VEX V5 Brain:

  pros make
  pros upload

• Modify src/globals.cpp to adjust motor ports, gear settings, or subsystem parameters as needed.

Code Structure

HighStakes-936B/
├── include/           # Header files
├── src/               # Source files
│   ├── globals.cpp    # Global motor, sensor, and subsystem initialization
│   ├── subsystems/    # Subsystem implementations
│   └── auton/         # Autonomous routines
├── README.md          # Project documentation
└── ...

Example: Motor and Sensor Initialization (from src/globals.cpp)

pros::Motor leftFrontMotor(LEFT_MOTOR_1, pros::E_MOTOR_GEAR_BLUE);
pros::Motor leftMiddleMotor(-LEFT_MOTOR_3, pros::E_MOTOR_GEAR_BLUE);
pros::Motor leftBackMotor(LEFT_MOTOR_2, pros::E_MOTOR_GEAR_BLUE);
pros::MotorGroup leftMotors({leftFrontMotor, leftMiddleMotor, leftBackMotor});
pros::Rotation horizontalEncoder(HORIZONTAL_ENCODER_PORT);
pros::Imu imu(IMU_PORT);

Subsystems Overview

• Movement: Handles chassis movement and path following using lemlib.
• Auton: Manages autonomous routines.
• Selector: Allows selection of autonomous routines.

Example: Subsystem Initialization

subsystems::Movement movement(&chassis);
subsystems::Auton auton(&chassis);
subsystems::Selector selector(&auton);

Adding New Subsystems

To add a new subsystem:

1. Create a new header file in include/subsystems/:

   // include/subsystems/NewSubsystem.h
   #pragma once
   #include "api.h"
   
   namespace subsystems {
       class NewSubsystem {
       public:
           NewSubsystem(/* constructor parameters */);
           void init();
           void update();
       private:
           // subsystem-specific members
       };
   }

2. Create the implementation in src/subsystems/:

   // src/subsystems/NewSubsystem.cpp
   #include "subsystems/NewSubsystem.h"
   
   namespace subsystems {
       NewSubsystem::NewSubsystem(/* parameters */) {
           // initialization
       }
   
       void NewSubsystem::init() {
           // setup code
       }
   
       void NewSubsystem::update() {
           // periodic update code
       }
   }

3. Add the subsystem to globals.cpp:

   subsystems::NewSubsystem newSubsystem(/* parameters */);

Autonomous Selection

The project uses the Vex-Autonomous-Selector for autonomous routine selection. The selector provides a user-friendly interface on the V5 Brain's screen.

Configuration

In selection.h:

#define HUE 360                    // Theme color (0-360)
#define AUTONS "Do Nothing", "Front", "Back"  // Autonomous routine names
#define DEFAULT 1                  // Default selected routine

Using the Selector

1. Include the selector in your main file:

   #include "autoSelect/selection.h"

2. Initialize in initialize():

   void initialize() {
       selector::init();
   }

3. Use in autonomous:

   void autonomous() {
       switch(selector::auton) {
           case 1:  // Red Front
               // Run front red autonomous
               break;
           case 2:  // Red Back
               // Run back red autonomous
               break;
           // Add more cases as needed
       }
   }

Contributing

Contributions are welcome! Please open issues or submit pull requests for improvements or bug fixes. Follow best practices for code documentation and formatting.

License

This project is licensed under the MIT License. See LICENSE for details.

Contact

For questions or support, open an issue or contact the maintainer at your.email@example.com.