2017-robot

This is the robot project for Harrison Boiler Robotics for the 2017 FRC Season: FIRST STEAMWORKS.

About this Robot

This robot contains five different main subsystems. The subsystems are as follows:

• Drive Train
  • Drive base for the robot.
  • 4 Motors (2 on each side) - CIMs
  • 2 Shifters (Pneumatics on each side)
  • 2 Encoders (One on each side)
• Intake
  • Moves up and down and collects balls from the floor
  • 1 Motor (Collecting in / out)
  • 1 Pneumatic (Up and Down)
• Conveyor
  • Moves the balls from the hopper to the shooter.
  • 1 Motor (775 PRO)
• Shooter
  • Shoots the balls into the boiler
  • 2 Motors
  • 2 Encoders on the Motors (12 cnts / rev)
• Climber
  • 2 MiniCIMs
  • Use current to measure when latched on. (Look for current spike).
• Hopper
  • Holds the balls
  • 2 Pneumatics (In and Out)

Project Structure

This robot project utilizes the Command-Based structure insituted by FIRST Robotics. Source files are seperated into three main parts.

• 1. Commands
• 2. Subsystems
• 3. Miscellaneous

Commands

Commands are classes that are used to run a certain set of actions. Commands are all included in the package below:

com.frc1747.commands

Subsystems

Subsystems consit of methods that can be used in Commands to make things move. Subsystems are all included in the package below:

com.frc1747.subsystems

Miscellaneous

There are a lot of miscellaneous files in the robot project. Current misc files include

• Robot.java
  • The backbone of the robot code. Includes methods that are used to call Auton, Teleop modes.
• OI.java
  • Shortform for "Operator Interface." Contains all button mappings that are used for joysticks and controllers.

Library

There are a set of files that will be utilized quite frequently by other files in the robot code. We will classify these files under the package below:

lib.frc1747