Robot2022

FIRST Robotics FRC 2022 Command Based Robot

C++/WPILib control system code for 2022 competition season

Subsystems

• DriveTrain (4xSparkMax)
• Launcher (2xSparkMax)
• Intake (1xSparkMax; 1xDoubleSolenoid)
• Climber (1xSparkMax)

Commands

• TeleopDrive
• Launch: Launch 1 or 2 balls from catapult
• Deploy: Deploy Intake outside robot perimiter for retrieving balls
• Stow: Stow Intake back within robot perimeter

Autonomous Commands

• AutoDriveDistance
• AutoTurn
• AutoDelay

Autonomous Command Groups

• AutoDrive