FTC Freight Frenzy

Robot control software for the FIRST Tech Challenge Freight Frenzy season (2021–2022). This repository contains the autonomous and teleop code for a mecanum-drive robot with vision-based element detection, carousel control, and a multi-stage scoring mechanism.

Overview

This project is built on the FTC SDK and extends it with Road Runner for odometry and trajectory following, EasyOpenCV for camera-based detection, and FTC Dashboard for live telemetry and parameter tuning.

The codebase supports:

• Autonomous routines for both alliance colors and starting positions (near and far from the alliance wall)
• Mecanum drive with IMU-assisted localization and spline-based path following
• Computer vision pipelines for identifying game elements on the field
• Mechanism control for intake, carousel, cascade lift, and rack-and-pinion scoring systems
• Drive tuning tools for calibrating feedforward, PID, tracking wheels, and velocity limits

Tech Stack

Component	Version
FTC SDK	6.2.x
Road Runner	0.5.3
EasyOpenCV	1.5.0
FTC Dashboard	0.4.1
Android Gradle Plugin	4.0.1
Compile SDK	29

Project Structure

ftc_freightfrenzy/
├── TeamCode/                          # Team-specific robot code
│   └── src/main/java/.../teamcode/
│       ├── auto_blueint.java          # Autonomous — blue alliance, near start
│       ├── auto_bluext.java           # Autonomous — blue alliance, far start
│       ├── auto_redint.java           # Autonomous — red alliance, near start
│       ├── auto_redext.java           # Autonomous — red alliance, far start
│       ├── newauto.java               # Experimental autonomous routine
│       ├── telemetry.java             # Telemetry debug teleop
│       ├── drive/
│       │   ├── SampleMecanumDrive.java    # Road Runner mecanum drive base
│       │   ├── DriveConstants.java       # Motor and kinematic constants
│       │   ├── advanced/                  # Advanced teleop and auto features
│       │   └── opmode/                    # Drive calibration and test op modes
│       └── util/                          # IMU, logging, and helper utilities
├── FtcRobotController/                # FTC SDK robot controller module
├── libs/                              # Local AAR dependencies
└── doc/                               # FTC SDK documentation and media

Prerequisites

• Android Studio (Arctic Fox or compatible with Gradle 4.0.x)
• A Robot Controller Android device (Control Hub or phone)
• A Driver Station Android device
• USB connection or wireless ADB for deployment

Getting Started

1. Clone the repository

git clone https://github.com/catalin21java/ftc_freightfrenzy.git
cd ftc_freightfrenzy

2. Open in Android Studio

1. Select Open an Existing Project and choose the repository root.
2. Allow Gradle to sync and download dependencies.
3. Select the TeamCode run configuration.

3. Deploy to the Robot Controller

1. Connect the Robot Controller device via USB (or configure wireless debugging).
2. Click Run to build and install the app.
3. On the Driver Station, select the desired OpMode from the list and press Init, then Start.

OpModes

Autonomous

OpMode	Description
AUTONOMOUS_blueint	Blue alliance, near-side starting position
AUTONOMOUS_bluext	Blue alliance, far-side starting position
AUTONOMOUS_redint	Red alliance, near-side starting position
AUTONOMOUS_redext	Red alliance, far-side starting position
NewAuto	Experimental autonomous routine
AutonomusGood	Alternative autonomous implementation

Teleop & Debug

OpMode	Description
TELEMETRY	Live telemetry readout for hardware debugging
Test_drive	Basic drive testing
Advanced teleop modes	Field-centric driving, localization, and augmented trajectory control (in drive/advanced/)

Drive Tuning

Road Runner tuning op modes are located in TeamCode/.../drive/opmode/ and include:

• Feedforward tuning (manual and automatic)
• Velocity and follower PID tuning
• Tracking wheel offset and lateral distance tuning
• Track width, max velocity, and max angular velocity tuning
• Straight, strafe, turn, and spline trajectory tests

Hardware Configuration

Configure the following device names in the Robot Controller configuration to match the code:

Device Name	Type	Purpose
Webcam 1	Webcam	Vision processing
cremaliera	DcMotorEx	Rack-and-pinion mechanism
cascade	DcMotorEx	Cascade lift
intake	DcMotorEx	Intake roller
carusel	DcMotor	Carousel spinner
ruleta, ruleta_x, ruleta_z	CRServo	Scoring arm servos
Mecanum motors	DcMotorEx	Drive base (configured in SampleMecanumDrive)
IMU	BNO055	Heading and localization

Drive constants (wheel radius, track width, gear ratio, PID coefficients) are defined in DriveConstants.java and can be adjusted at runtime via FTC Dashboard at https://192.168.49.1:8080/dash when connected to the robot's WiFi network.

Development

Tuning drive parameters

1. Connect to the robot's WiFi and open FTC Dashboard.
2. Run the appropriate tuning OpMode from the drive group.
3. Save tuned values back to DriveConstants.java — dashboard changes do not persist across app restarts.

Vision pipelines

• DetectionPipeline — grid-based luminosity detection for identifying game elements
• SamplePipeline — base OpenCV pipeline used in autonomous routines

Building from the command line

./gradlew :TeamCode:assembleDebug

The output APK will be located in TeamCode/build/outputs/apk/.

Acknowledgments

• FIRST Tech Challenge for the competition platform and SDK
• Road Runner by Acme Robotics for trajectory following
• EasyOpenCV by OpenFTC for camera integration
• Upstream repository: MihutMatei/FreightFrenzy

License

This project includes components from the FTC SDK, which is subject to its own license terms. See the doc/legal/ directory for third-party license information.