FRC2019

Team 6502 robot code for the 2019 season.

FYI: Touching build.gradle or Main.kt will probably break things.

Current Features

• Drivetrain
  • Drive straight assist
  • Velocity drive
  • Vision (coming soon)
  • On-RIO characterization (kV and kS)
  • Ramsete spline following
• Elevator
  • Trapezoidal height control for maximum smoothness
  • Minimal driver control (elevator knows what game piece it has and moves accordingly)
• Cargo intake
  • Automatic shutoff when cargo has been acquired
• Hatch intake
  • Moves hatch panels around.
  • Coordinated autonomous elevator movement to pick up and place panels with one button