Merge branch 'health-and-wellness' of https://github.com/FRCTeam3255/…

…2024_Robot_Code into health-and-wellness

README.md

@@ -24,7 +24,20 @@ competitions (depending on region) to qualify for the FIRST Championship in Hous
 Interested in learning more about CRESCENDO? Visit [FIRST's website](https://www.firstinspires.org/robotics/frc/game-and-season) for more details!
 
 ## Robot Features
-
+Our code is written off of WPI’s Command-Based libraries and framework and utilizes our team's own vendor library, [SuperCORE](https://github.com/FRCTeam3255/SuperCORE). All of our subsystems implement Supply current limiting at high voltages in order to prevent motors burning out and mechanisms breaking. Similarly, all of our positionally controlled subsystems have a zeroing fallback if their position is inaccurate. We turn off current limiting, run the motor at a slow speed, and detect a current spike before to zero the subsystem's position.
+### Shooter
+- The hood uses the y-coordinate of the robot's pose to linearly interpolate the angle to shuffle notes from our robot's position.
+- The flywheels are controlled seperately and can be set to different speeds and PID values. They begin to get up to speed as soon as we collect a game piece and are set to neutral output once we shoot out the game piece.
+- The turret uses trigonometry to determine the angle to shuffle notes from our robot's position.
+### Elevator
+- The elevator is set to neutral output when it is close to 0 to conserve battery.
+### Intake/Transfer
+- Our game piece detection relies on current and voltage. We detect the spike in the current on our rollers when a game piece is collected.
+- We briefly push back the game piece when it is collected using time-based methods, setting the game piece to a consistent position before shooting it. We also position the game piece for amp placement using encoder-based methods.
+### Drivetrain
+- 
+### LEDs
+- The LEDs are controlled using CTRE's CANdle. They flash when we are intaking and turn solid when a game piece is collected.
 
 ## Controls
 ![Controllers](src/main/assets/controllerMap2024.png)