8214 FRC 2022

Team 8214's 2022 FRC robot code, written in Java and NI's custom robot control framework NI-Skeleton.

The code is written by Jetbrains Idea and follows NI's programming format(NI-Programming-Guide).

Setup Instructions

General

1. Clone this repo
2. Run ./gradlew to download gradle and needed FRC/Vendor lib
3. Run ./gradlew tasks to see available options

VS Code(Official IDE)

1. Install WPILIB extension through market
2. Right click build.gradle and enjoy

Idea

1. Install FRC plugin through market
2. Choose the build task and enjoy

Code Highlights

Common

• Custom robot control framework, run robot control loop in 100-200hz(Org 50hz)
• All subsystems are built as state-machine
• Virtual OI layer for clean teleop and auto control logic

Teleop

• Field-centric swerve drive
• Full time auto-aim through limelight 3 and odometry(Shoot even limelight broken and never lost target)
• Automatic wrong ball rejection by color sensor and fused odometry(Shoot to hanger automatically)
• REV color sensor data in UART by Pico
• Feedforward compensation to turret control through chassis angular velocity and relative velocity to vision target
• System identification to flywheel, run fly wheel by simple feedforward model
• Build shooting parameters by linear interpolated tree map(Hood angle & flywheel rpm)
• Semi-automated climber through state-machine using encoder positions and Bang-bang Controller

Auto

• Trajectory generator based on Quintic Hermite Spline with swerve kinematic constrain
• Drive motion planner based on Adaptive Pure Pursuit and Pure P Controller
• Fused odometry in Unscented Kalman Filter base on wheel, IMU, and vision odometry
• Mode chooser and executer based on action