8214 FRC 2022

Team 8214's 2022 FRC robot code, written in Java and NI's custom robot control framework NI-Skeleton.

The code is written by Jetbrains Idea and follows NI's programming format(NI-Programming-Guide).

Setup Instructions

General

Clone this repo
Run ./gradlew to download gradle and needed FRC/Vendor lib
Run ./gradlew tasks to see available options

VS Code(Official IDE)

Install WPILIB extension through market
Right click build.gradle and enjoy

Idea

Install FRC plugin through market
Choose the build task and enjoy

Code Highlights

Common

Custom robot control framework, run robot control loop in 100-200hz(Org 50hz)
All subsystems are built as state-machine
Virtual OI layer for clean teleop and auto control logic

Teleop

Field-centric swerve drive
Full time auto-aim through limelight 3 and odometry(Shoot even limelight broken and never lost target)
Automatic wrong ball rejection by color sensor and fused odometry(Shoot to hanger automatically)
REV color sensor data in UART by Pico
Feedforward compensation to turret control through chassis angular velocity and relative velocity to vision target
System identification to flywheel, run fly wheel by simple feedforward model
Build shooting parameters by linear interpolated tree map(Hood angle & flywheel rpm)
Semi-automated climber through state-machine using encoder positions and Bang-bang Controller

Auto

Trajectory generator based on Quintic Hermite Spline with swerve kinematic constrain
Drive motion planner based on Adaptive Pure Pursuit and Pure P Controller
Fused odometry in Unscented Kalman Filter base on wheel, IMU, and vision odometry
Mode chooser and executer based on action