This is the code for TimberWolf robotics FRC 2023.
All controls are based on a standard xbox controller.
Please make sure that you use a shuffleboard tile size of 64, rather than the default 128.
| control | binding | description |
|---|---|---|
| movement | Left Analog Stick | |
| rotation | Right Analog Stick | |
| Lock Rotation | Hold B Button | When held, the robot will not be able to rotate |
| auto align | Right Bumper | Aligns robot with target |
| slowmode speed | Left Bumper | makes controls slower for precise movement |
| detect april tags | Press X Button | Sets limelight to detect april tags |
| detect retro tape | Press Y Button | Sets limelight to detect retro-reflective tape |
| auto balance | Press A Button | Auto balances on platform |
| reset gyro yaw | Press Start Button | Resets the gyro's yaw readout |
| switch to robot oriented drive | Hold Right Trigger | When held, the robot will switch to robot oriented drive |
| control | binding | description |
|---|---|---|
| floor preset | Press A Button | Normal: Floor Preset, Score: Lower Goal Preset |
| middle score preset | Press B Button | Score: Middle Goal Preset |
| shelf preset | Press Y Button | Normal: Shelf Preset, Score: High Goal Preset |
| home preset | Press X Button | Normal: Home Preset, Score: Home Preset |
| scoring mode | Hold Left Bumper | When held, puts presets into Score mode |
| limelight pipeline | Press Right Bumper | When pressed, toggles between the two limelight pipelines |
| elbow movement | Left Analog Stick | Y axis moves elbow joint |
| opens claw | Right Trigger | will open claw for grabbing game pieces |
| closes claw | Left Trigger | will close claw for chomping game pieces |
| crane shoulder up | Press D-Pad up | Makes the shoulder go up |
| crane shoulder down | Press D-Pad down | Makes the shoulder go down |
Just for explanation, the pipelines for the limelight are created by connecting to the limelight through the wifi. It was made the way it is so that the tuning seems to be stable and working well.
After tuning everything to be stable, you press the download button for both pipelines (there are multiple slots for different pipelines under a button showing a number) - Detecting the retro tape and detecting the april tags. This will save them to another little button that looks like a download button but what it really does is show you what you have downloaded. Press this button, and press on the most recently downloaded ones to bring you to files. From there, what I did was drag them into the WolfBot2023 folder then into the newly made limelight_pipeline folder.
From there, it should be showing up in VSCode and you can save it, create a new branch, stage the changes, push for a commit, have a team member review it, and eventually merge the new branch.