Megastuf is Glitch 2.0's 2023 FRC Robot
The goal is a highly automated robot that relies on computer vision and pose estimation to aid the driver
- PhotonVision AprilTag and vision processing
- Drivetrain Pose Estimation
- PathPlanner and dynamic trajectory following
- Feedforward and State-Space Control
The robot is a simple differential drive with a 3DOF arm with the following hardware:
- Four Brushless NEO/SparkMax Drivetrain
- NI Roborio controller
- Three Brushless NEO/SparkMax Arm drive
- One Brushed 775/TalonSRX Turret drive
- Dual NEO 550/SparkMax Gripper drive
- Orange Pi 5 + Arducam B0332 + Microsoft LifeCam HD-3000