README.md

Package com.team841.offseason2023

Contains all robot code.

Structure

• com.team841.offseason2023.Auto

  Contains autonomous code and paths.

• Constants

  Contains robot constants. Values such as PID values, motor gains, everything that is constants.

• Drive

  Contains drivetrain code.

  DriveStyle.java: Drive module

  Drivetrain.java: Drivetrain subsystem

• states

  Contains robot superstructure states:

  States.java: Enum of all states

  SuperstructureStatePreset.java: Superstructure subsystem preset states used to store predetermined goal states.

• Superstructure

  Contains most suoperstructure code, includes superstructure and intake subsystems.

  Intake.java: Intake subsystem

  Superstructure.java: Superstructure subsystem

  SuperstructureStateManager.java: Superstructure state manager, a method inside called updateState() is called every robot loop and updates the superstructure state into SC.java.

  commands/: Contains superstructure commands.

  factory/: Contains superstructure factory classes, used to move superstructure from driver inputs

  AbstractFactoryLogicBeta.java: Abstract class that extends interfaceAbstractFactoryMovement.java for superstructure factory command classes.

  SuperstructureFactoryBeta.java: Superstructure factory command class, extends AbstractFactoryLogicBeta.java and implements AbstractFactoryMovement.java.

  GamePiece.java: Enum of all game pieces

• util

  Contains utility classes, inluding BioFalcon.java and Gains.java to set falcon gains. Also contains tunableNumber.java to create tunable numbers in shuffleboard, which allows for faster PID tuning.

• Robot.java

  Creates everything

• RobotContainer.java

  Where auto path is set and where controller buttons are binded. All subsystems are intialized here.