Team RUSH 27 (2024 Code)

2024 Robot Code featuring swerve drive, autonomous path following, vision tracking, and automated game piece handling.

This codebase features:

• Advanced swerve drive control with field-centric and robot-centric modes
• Vision-based target tracking and autonomous alignment
• Automated game piece intake, indexing, and launching
• Path planning and autonomous navigation
• Comprehensive telemetry and diagnostics
• Support for both competition and practice robots

Repository Structure

.
├── src/main/java/                      # Main source code directory
│   ├── com/team254/lib/               # Core libraries from Team 254
│   │   ├── control/                   # Control system components
│   │   ├── geometry/                  # Geometric calculations and transforms
│   │   ├── motion/                    # Motion profiling and path generation
│   │   ├── swerve/                    # Swerve drive kinematics and control
│   │   └── vision/                    # Vision processing utilities
│   └── net/teamrush27/frc2024/       # Team-specific robot code
│       ├── autonomous/                # Autonomous routines and commands
│       ├── controlboard/              # Driver interface and controls
│       ├── subsystems/               # Robot subsystems (drive, launcher, etc.)
│       └── util/                     # Utility classes
├── build.gradle                       # Gradle build configuration
└── vendordeps/                       # Third-party library dependencies

Usage Instructions

Prerequisites

• WPILib 2024.3.2 or later
• Java Development Kit (JDK) 17
• Phoenix 6 library for CTRE motor controllers
• REVLib for REV Robotics hardware
• PathPlanner library for autonomous path planning

Installation

1. Clone the repository:

git clone <repository-url>
cd frc2024

2. Install dependencies:

./gradlew vendordep

3. Build the project:

./gradlew build

Quick Start

1. Configure robot type in Constants.java (COMPETITION or PRACTICE)

2. Deploy to the robot:

./gradlew deploy

3. Basic operation:

• Driver controls use field-centric swerve drive by default
• Operator controls manage game piece handling and shooting
• Autonomous routines can be selected via SmartDashboard

More Detailed Examples

1. Swerve Drive Control:

// Field-centric drive
drivetrain.setWantedState(WantedState.FIELD_CENTRIC);
drivetrain.drive(xSpeed, ySpeed, rotation);

// Target tracking
drivetrain.setWantedState(WantedState.SPEAKER_ALIGN);

2. Game Piece Handling:

// Intake and shoot sequence
supervisor.setWantedState(SupervisorWantedState.INTAKE);
supervisor.setLauncherShotType(ShotType.SPEAKER);
supervisor.setWantedState(SupervisorWantedState.FIRE);

Troubleshooting

Common issues:

1. CAN Bus Communication Issues

   • Check Phoenix Tuner for device connectivity
   • Verify CAN IDs match configuration
   • Check CAN termination resistors

2. Swerve Module Calibration

   • Use Phoenix Tuner to verify encoder offsets
   • Check module alignment in robot characterization
   • Verify motor controller configurations

3. Vision Tracking Problems

   • Check camera exposure settings
   • Verify AprilTag positions in field configuration
   • Monitor network latency and packet loss

Data Flow

The robot control system follows a hierarchical data flow architecture:

Driver Input -> ControlBoard -> Subsystem Manager
     |              |               |
     v              v               v
Drivetrain <-> PoseEstimator <-> Vision
     |              |               |
     v              v               v
Motion Planning -> Supervisor -> Subsystems

Key interactions:

• ControlBoard processes driver inputs and maps to robot commands
• PoseEstimator fuses odometry and vision data for robot localization
• Supervisor coordinates subsystem states for game piece handling
• Drivetrain handles low-level motor control and kinematics
• Vision system provides target tracking and field localization

Infrastructure

Phoenix 6 Motor Controllers

• TalonFX drive motors (CAN IDs 10-17)
• CANcoder absolute encoders (CAN IDs 18-21)
• Pigeon2 IMU (CAN ID 3)

REV Hardware

• SparkFlex controllers for auxiliary mechanisms
• Through-bore encoders for position feedback

Network Communication

• CANFD bus for motor controllers
• Standard CAN for auxiliary devices
• NetworkTables for dashboard communication