Features

There are a couple of other additional features that are added to this template. They are listed below.

Orchestrator

Orchestrator is a music player that uses Krakens to play music on the robot. This is implemented by default in the code in the following files:

• RobotController.kt
• Autos.kt

The best way to use orchestrator is to set it up as an autonomous command and to trigger it. An example of this is in the Autos.kt file. You can then schedule this command when autonomous is enabled through the manualAutoChooser, or through another method if you wish. Make sure to stop playback in teleOpInit or when you wish to do something else with the motors. The Krakens will not work until playback is stopped.