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2022 FRC Team 1515 Robot Code

Setup

1. Setup buttons in Control
2. Configure IDs in RobotMap
3. Set steering offsets in RobotMap (follow instructions below)

Driver button lists

First driver button list:

Action	Button
Drive	Left stick
Turn	Right stick
Vertical Climber Up	RB
Vertical Climber Down	RT
Diagonal Climber Up	Y
Diagonal Climber Down	X
Manual Left Climber	B
Manual Right Climber	A
Manual Control Vertical	Left DPAD
Manual Control Diagonal	Right DPAD
Manual Control Expand	Up DPAD
Manual Control Retract	Down DPAD
Drive robot oriented	LB
Slow robot down	LT
Reset gyro	Back
Align robot with target	Start

Second Driver Buttons

Action	Button
Shoot	X
Intake	RB
Outtake	LB
Mag up	A
Mag down	B
Reset shooter speed	RT

Setting up module offsets

Before setting up module offsets ensure each offset is set to -Math.toRadians(0.0) and that code is deployed to the robot. This must be done each time offsets are determined.

1. Either turn the robot on its side or put it up on a cart with the wheels exposed.

By default, module sensor information is displayed in the Drivetrain tab on ShuffleBoard.

2. Rotate each module so the bevel gear on the sides of each wheel are pointing to the robot's left.

When aligning the wheels they must be as straight as possible. It is recommended to use a long straight edge such as a piece of 2x1 in order to make the wheels straight.

3. Record the angles of each module using the reading displayed on the dashboard.

4. Set the values of the *_MODULE_STEER_OFFSET constants in Constants to -Math.toRadians(<the angle you recorded>)

5. Re-deploy and try to drive the robot forwards. All wheels should stay parallel to each other.

6. Make sure all the wheels are spinning in the correct direction. If not, add 180 degrees to the offset of each wheel that is spinning in the incorrect direction. (I.e. -Math.toRadians(<angle> + 180.0)))