robot2024

Team 1073's robot code for the 2024 FRC Season: Crecendo

Direction Conventions

1. Collector movement is defined as meters/second in X axis (front of robot) direction. Therefore sucking a note into the robot is a negative collect velocity, spitting a note out is a positive collect velocity.
2. Collector arm extension is defined as meters away from the pivot of the collector. This means that sticking the arm out further is positive meters and pulling it in closer is negative meters from the zero position.
3. Collector arm rotation is defined based on rotation about the +Y axis of the robot chassis. It follows the right hand rule. Therefore, "raising up" the collector is a negative rotation about the Y axis of the robot and "lowering" the collector is a positive rotation about the Y axis.
4. The launcher pivot is likewise defined based on rotation about the +Y axis of the robot chassis. It follows the right hand rule. This is based on where the launcher is aimed, so the aiming vector of the collector is moved upwards by negative rotation about the +Y axis and is moved downwards by a positive rotation about the +Y axis.
5. The launcher/trigger rollers are scaled to meters and/or meters/second and positive movement is moving the note along/out of the robot and negative movement would be backwards along the launcher/into the robot.

Can ID

The primary devices on the CANBus are 4 swerve modules with CANCoder feedback, a Pigeon 2 IMU for orientation, 3 motors for the collector and arm, 5 motors for the shooter/feeder, and 1 motor for the climber.

Swerve module #0 is front left, #1 is front right, #2 is back left, and #3 is back right.

Device	CAN ID	BUS
PDH	0	rio
Swerve #0 Encoder	1	rio
Swerve #1 Encoder	2	rio
Swerve #2 Encoder	3	rio
Swerve #3 Encoder	4	rio
Swerve #0 Steer Motor	5	rio
Swerve #1 Steer Motor	6	rio
Swerve #2 Steer Motor	7	rio
Swerve #3 Steer Motor	8	rio
Swerve #0 Drive Motor	9	rio
Swerve #1 Drive Motor	10	rio
Swerve #2 Drive Motor	11	rio
Swerve #3 Drive Motor	12	rio
Pigeon 2	13	rio
Collector Motor	14	CANivore
Lift Motor	15	CANivore
Extend Motor	16	CANivore
Top Shooter Motor	17	CANivore
Bottom Shooter Motor	18	CANivore
Leader Feeder Motor	19	CANivore
Follower Feeder Motor	20	CANivore
Pivot Motor	21	CANivore
Climber Motor left	22	CANivore
Climber Motor right	23	CANivore

Digital IO	Port
Collector Tof	0
Feeder Tof	1
Shooter Tof	2

Bling slots

(will be added later in the season)

Slot	Mechanism

XBox Controller Buttons

Driver Controller

Button	Number	Function
A	1	Reset Odometry
B	2
X	3
Y	4
Front Left Trigger	5	Parking Brake
Front Right Trigger	6
View Button	7	Field Centric Toggle
Menu Button	8	Zero Heading
Push Down Left Joystick	9
Push Down Right Joystick	10

Axes & Other	Axes	Function
Left Joystick	0 & 1	Translate
Right Joystick	2	Rotate
Back Left Trigger	3	Increase Speed
Back Right Trigger	4 & 5	Increase Speed
Dpad

Operator Controller

(W0) = temporary mechanism control for week zero

Button	Number	Function
A	1	Ground Collect Pose
B	2	Amp Pose
X	3	Stow
Y	4	Cancel Command
Front Left Bumper	5
Front Right Bumper	6	Run Collect Motor
View Button	7
Menu Button	8	Climb Mode
Push Down Left Joystick	9
Push Down Right Joystick	10

Axes & Other	Axes	Function
Left Joystick (Normal)	0 & 1	Collector Arm In/Out
Right Joystick (Normal)	2	Collector Arm Up/Down
Joysticks (Climber)	0, 1, 2	Climbers Up/Down
Back Left Trigger	3	Handoff
Back Right Trigger	4 & 5	Shoot
Dpad

Reference

Xbox Letter	PS4 Shape
A	X
B	Circle
X	Square
Y	Triangle

Bling Quadrents

Quadrent #	Function
0
1
2
3	Battery
4	Collected (Yellow)
5	In Feeder (Blue)
6	Alignment
7