6184 2023 competiton code

The primary goals for this program are to:

• Teleop drive all subsysems
• Create a visual interface to see field and robot data using FRC web components
• Use vision systems to have a SLAM style vison proccess (exluding gamepeice and robot recognition)

current subsystems and control goals

• Drivetrain
  • Velocity based joystick control (using IMU)
  • Point to point field coordinate interpolation
• Turret and arms
• Intake

Driver station Install steps

1. Clone repo
2. Launch pynetworktables2js.exe
3. Go to http://127.0.0.1:8888/

CommandsTODO

• Drivetrain
  • driveVelocityBased (arcade style)
  • driveTank
  • drivePercent (arcade style)
  • translateByMeters
  • driveDisable
  • setControlFieldRelative
  • setControlRobotRelative
• Arms
  • manipulate1
  • manipulate2
  • turretRotateToAngle
  • turretRotateByPercent
  • turretLockRotation (locks rotation to be releative to field unless stops are maxed out )
  • turretUnlockRotation
  • turretReturnToCenter
• Intake
  • setIntakeIn
  • setIntakeOff
  • setIntakeOut