AutoTrack

AutoTrack is a comprehensive system for FTC robots that allows drivers to record precise movements during TeleOp and replay them seamlessly in Autonomous mode.

Overview

This system enables your FTC robot to record movements and actions during TeleOp and replay them accurately in Autonomous mode. By capturing all driver-controlled commands and re-executing them in Auto, you can replicate complex tasks without the need for extensive manual programming.

Get Started

To get a Git project into your build:

Step 1. Add the JitPack repository to your build file Add it in your root build.gradle at the end of repositories:

	dependencyResolutionManagement {
		repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
		repositories {
			mavenCentral()
			maven { url 'https://jitpack.io' }
		}
	}

Step 2. Add the dependency

	dependencies {
	        implementation 'com.github.CapitalRobotics:AutoTrack:Tag'
	}

Or View Auto and Teleop Directly

To view auto and teleop templates for your project, start here These templates provide the basic logic of AutoTrack as templates for your team, just add your teams hardweare implimentation.

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Key Features

1. Recording Script (TeleOp)

• Captures:
  • Drivetrain movements (velocities, directions)
  • Arm and claw positions
  • Other actuator states
• Saves:
  • Commands in real-time with precise timestamps
  • A sequence file (recorded_actions.json) that stores all recorded actions for replay.

2. Replay Script (Autonomous)

• Reads the recorded action sequence from recorded_actions.json.
• Replays:
  • All drivetrain, arm, and claw actions in the exact order and timing as originally recorded.
• Ensures:
  • Consistent and repeatable execution of complex routines.

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Workflow

Step 1: Record in TeleOp

1. Drivers control the robot during TeleOp using their gamepads.
2. The robot records all movements and actions to recorded_actions.json in real-time.
3. Save the file after TeleOp ends for use in Autonomous.

Step 2: Replay in Auto

1. The replay script reads recorded_actions.json.
2. Commands are executed in sequence, mimicking the original performance from TeleOp.
3. Complex tasks, such as navigating the field, manipulating game elements, or performing scoring actions, are replayed precisely.

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Benefits

• Rapid Autonomous Development: Record once, replay many times. Perfect for iterative testing.
• Accuracy: Replicates driver-controlled movements with minimal manual programming.
• Flexibility: Adapts to any sequence of tasks as long as the recording is saved.