ChargedUp 2023

| src/main/java shortcut

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The Patribots (FRC 4738)

Visit our website at patribots.org!

The Patribots are a school-based FIRST® Robotics Competition team from Patrick Henry High School, located in San Diego, California.

This repository is entirely student-created and maintained. We are a team of students, for students, and we are proud to be a part of the FIRST® community. Thanks for checking us out, and be sure to star this repo if you found anything helpful!

See how we did!

Check out our release video!

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Highlights

• Field-centric swerve drive
• Two-link arm driven by inverse kinematics
• Modular autonomous routines
• Auto balance for Charge Pad using gyroscope
• Auto alignment and placement for cubes and cones
• April Tag interpretation using PhotonVision

Major Package Functions

• src.main.java.calc

  • Contains all calculations done for inverse kinematic equations in ArmCalculations.java, AprilTag interpretation in PhotonCameraUtil.java, and custom joystick math in OICalc.java.

  Don't forget about Constants!

• src.math.java.hardware

  • The source of our subsystems, where motors are driven. This include the Arm, Claw, and Swerve drive (which is made up of MAXSwerveModules).
  • You can also find our LEDController and calibration tool, which communicates with an Arduino Uno for our LEDs.

Want to find out more? Jump into the code!

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Controls, courtesy of 3255 <3