Team 581's FRC 2022 Rapid React robot code

Team 581's robot code for the FRC 2022 Rapid React game.

Features

• Zero, one, or two ball autonomous
• Drivetrain
  • Mecanum drivetrain controlled with a holonomic drive controller during autonomous
  • Per-wheel closed-loop velocity control with feedforward and feedback via PID
• Vision
  • Two Limelight 2+s used for tracking cargo and aligning with the upper hub
  • Uses on-the-fly trajectory generation for aligning with the hub's fenders during teleop
  • Full robot localization using vision data fused with odometry data using an unscented Kalman filter
• Arm which carries the intake & shooter (AKA "Swiffer Picker Upper")
  • Closed-loop velocity control for intake & shooter flywheel
  • Open-loop position control for moving arm
• Misc
  • Mass data logging to USB + streamed to driver station via Advantage Kit

Source code structure

Robot source code is stored within the src/main/java/frc/robot/ directory.

We also have a few files within the src/main/java/lib/ directory for generic vendor utilities (ex. a Limelight NetworkTables wrapper).

Directory	Description
src/main/java/frc/robot/superstructure/	The superstructure Subsystem that helps coordinate movement of the swiffer and arm together.
src/main/java/frc/robot/superstructure/swiffer/	The "Swiffer Picker Upper", our combined intake & shooter mechanism.
src/main/java/frc/robot/superstructure/arm/	The arm mechanism for the Swiffer Picker Upper's arm.
src/main/java/frc/robot/vision_cargo/	The vision system (Limelight 2+) used for targeting cargo on the floor.
src/main/java/frc/robot/vision_upper/	The vision system (Limelight 2+) used for targeting the upper hub.
src/main/java/frc/robot/vision/	Code reused in the vision subsystems.
src/main/java/frc/robot/paths/	Tools for autonomously following paths/trajectories.
src/main/java/frc/robot/drive/	The drivetrain.
src/main/java/frc/robot/controller/	Game controllers used by human drivers.
src/main/java/frc/robot/misc/	Miscellaneous classes that are used throughout the project and don't belong to any one group.

Limelight configuration files

See limelight/.

PathPlanner trajectories

PathPlanner trajectories are stored within the src/main/deploy/pathplanner/ directory.

WPILib SysId

Assorted WPILib SysId files are stored in the top-level project directory and the .SysId/ directory.

File	Description
config.json	The main SysId configuration file.
sys_id_data*.json	Recorded SysId data files for analysis.