FRC 8574 (Audeamus)'s 2024 Testbot

Installation

1. Follow this guide to install the latest version of WPILib.

2. Make sure you have Git installed. If you're on Windows, you can install Git using this installer.

3. Clone this repository.

4. Open the 2024-testbot-new folder in 2024 WPILib VS Code.

5. Press Ctrl + Shift + P to open the command palette

6. To run the simulation: search and select WPILib: Simulate Robot Code and wait for the process to complete. To deploy the code to the robot: connect to the robot, then search and select WPILib: Deploy Robot Code and wait for the process to complete.

Additional Setup

• To edit the paths and autos, install FRC PathPlanner.
• To use the Driver Station and to image the roboRIO, install the FRC Game Tools using these instructions.

Pose2d, Rotation2d, and Translation2d Values

• Readings directly from the gyro sensor (e.g., using m_gyro.getAngle() or m_gyro.getRotation2d()) are increasing going CW. Readings using getRobotHeadingDegrees in DriveSubsystem and values in Pose2d and Rotation2d are increasing going CCW.
• For Translation2d and Pose2d values relative to the robot, positive x values represent moving toward the front of the robot whereas positive y values represent moving toward the left of the robot.
• For Pose2d values on the field, the RED SOURCE is at the (0, 0) corner and the RED AMP is closest to the (16.54, 8.21) corner.