Talon Robotics 2019 Robot Code

This project uses ezAuton

Features

• Custom-made autonomous path tracking using ezAuton
• Vision processing in Python with OpenCV using Vision2019 and custom-made socket communication code
  • Can align on all vision targets for quick, accurate pickup and placement of hatches
• Localization using both encoders and the Pigeon IMU
• Unit testing with Kotlin

Setup Instructions

Cloning

Via command line

• git clone --recursive https://github.com/Team-2502/RobotCode2019

• cd RobotCode2019

• ./gradlew downloadAll

Via GitKraken

• `File -> Clone Repo

• Clone RobotCode2019 repository

Opening

In IntelliJ

• File -> New -> Project From Existing Sources...

• Select the RobotCode2019 directory

• Import the project from the external model Gradle

• Select Use auto-import

In Eclipse

• Instructions found here, with more documentation here

Package Functions

• com.team2502.robot2019.command

  Contains all commands and ezAuton actions

• com.team2502.robot2019.command.autonomous.ingredients

  Contains base commands and actions for autonomous command groups

• com.team2502.robot2019.command.teleop

  Contains all commands and ezAuton actions for teleop subsystems including drivetrain and active intake

• com.team2502.robot2019.command.vision

  Contains all commands and ezAuton actions for vision based movement

• com.team2502.robot2019.subsystem

  Contains all subsytems used by the robot

• com.team2502.robot2019.subsystem.vision

  Contains the code for interfacing with the Raspberry Pi

Special Thanks To

YourKit, the makers of an incredible Java and .NET profiler, help us make our robot code run fast. We have been accepted for an Open Source license for Team 2502.