MetalMoose2018

2018 code repository of the FRC Team 1391.

Introduction

This repository has been the collaborative effort of the Metal Moose team for the 2018 FRC challenge. The repository includes:

• Source code to the 1391's 2018 robot.
• SmartDashboard XML file.
• Driver Station Log (changing anything on the driver stations).
• Autonomous Documentation.

Code Features

There are a few interesting features of the 2018 year's code. To name a few:

• Polynomial Equation Control - the movement of the elevator is dependent on two 4th degree polynomial functions modeled for this exact purpose (the x value being the position of the elevator). Similarly, the drivebase is slowed down by another polynomial function to improve robot stability when placing cubes high up.
• Autonomous Parsing Language - the autonomous code is parsed from a language that we developed for this year's robot using regular expressions. A sample command sequence would be: DD(224, S=0.9) E(2) TB(-40) O(0.4, S=1) E(0) (drive distance of 224 inches at speed 0.9, turn by 40 degrees to the left, elevate to position 2, outtake for 0.4 seconds at speed 1 and elevate back down). This allows us to easily mirror sequences when starting in any position and even make up autonomous on-the-go.
• Double PID Control - the driving of the robot is controlled by two PID controllers - one controlling the gyro and the other controlling the encoder. This allows straight, precise driving.

For more, refer to the "Other Documents" section of this markdown document.

Building

The easiest way to build and compile the code would be to create an IntelliJ project and compile with the FRC plugin, as shown in one of the guides from our MooseGuides repository.

Other Documents

• 1391's 2018 Software Overview - going into detail about the programming on the robot.
• 1391's 2018 Offseason Guide - a guide on how to control the robot (from turning on to the design behind the code). This is mostly for the team.