2023_Robot

Code for FRC 2067's 2023 Robot for the game Charged Up

Controller button map

Useful links:

• wpilib getting started covers how to wire and program a robot

• documentation for software libraries and hardware we'll use:

  • wpilib javadocs
  • CTRE TalonFX motor controller code examples (motion magic, velocity control)
    • Closed loop primer
    • MotionMagic parameters / Pheonix Tuner video
    • CTRE Documentation
  • REV SPARK-MAX motor controller code examples (position control, velocity control)
    • REV SPARK-MAX documentation
  • Photonlib

• 2023 Game manual

Robot Subsystem Descriptions

Drivetrain

The motors that move the robot chassis around the field.

• Actuators:

  • 2x TalonFX motor controllers (right)
  • 2x TalonFX motor controllers (left)

• Sensors:

  • Pigeon IMU for measuring robot heading and pitch

Intake (upper)

A set of rollers on a arm that can extend & retract.
Mounted at the front of the chassis, for game piece acquisition from the floor.

Intake Rollers

• Actuators:

  • 2x SparkMax motor controllers to pull in game pieces

• Sensors:

  • 1x Discrete input for game piece detection

Intake Extend/Retract

Motors on the left and right of the intake assembly to extend and retract the intake roller assembly

We should set one up as a follower to the other so that the two motors stay synchronized

• Actuators:
  • 2x TalonFX motor controllers for moving the intake in & out

Intake Conveyor (lower)

Mounted at the front of the chassis, along the ground. Aids in bringing the game pieces into the chassis.

Intake Conveyor

• 1x SparkMax motor controller for running the belts on the conveyor assembly

Intake Conveyor Extend/Retract

• Actuators:
  • 1x DoubleSolenoid for extending and retracting the assembly

Arm

Telescoping assembly. Extend to move game pieces away from chassis.

• Actuators:

  • 1x TalonFX motor controller

• Sensors:

  • 1x hall effect sensor for zero position / full retract

Claw

Game piece manipulator mounted on the arm

• Actuators:

  • 1x TalonSRX motor controller
  • 1x Solenoid (open/close)

• Sensors:

  • 🤷‍♀️ 1x Discrete input for game piece detection

Shoulder

mechanism used to raise/lower arm assembly.
Brings game pieces to appropriate elevation for scoring

• Actuators:

  • 1x SparkMax Motor controller to rasie/lower arm

• Sensors:

  • 2x Discrete Inputs for end of travel in either direction

Waist

A rotating platorm on which the arm assembly sits.
Pivoting this platorm allows placing game pieces at scoring locations when the chassis isn't perfectly aligned.

• Actuators:

  • 1x SparkMAX motor controller for rotating the assembly

• Sensors:

  • 🤷‍♀️ 2x end of travel limit switches.

Vision

Container for interacting with camera based sensor(s)

• Sensors:
  • 1x photonvision camera

Getting Started

Software installation

• Download and Install the latest WPIlib 2023 release

  • If you're on Windows, download the .iso file (e.g. WPILib_Windows-2023.1.1.iso).
  • While connected to the internet, open the ISO
    • run the WPILibInstaller.exe file
    • follow the on-screen instructions, to install vscode for your user

• Other tools you need should install:

  • FRC Game tools

    • You need this to control a robot (includes the driverstation application)
    • You can skip license entry / activation for the NI Vision component we won't
    • Open th driverstation and enter our team number (2067) from the Setup Tab on the left (gear)

  • Radio configuration utility

  • Phoenix Framework Installer

    • Software libraries for CTRE devices
    • Includes phoenix tuner for configuring/updating firmware on CTRE devices

  • Rev Hardware Client For upgrading firmware on REV Robitics devices

    • After installation, perform an update to download device firmwares so you'll have them avaialable later if you're not online (e.g. at a competition)

• Install git bash

  • Download the appropriate installer for your OS
  • Install following onscreen instructions
  • TODO any additional setup steps - dry run on fresh install

• Create an account at github.com, you should have recieved an invite at the email you used to register for slack.

Clone this repo to your desktop

The following steps will authorize vscode to access your github account through OAuth. This is in place of setting up ssh keys. If you'd rather do that, feel free to do so.
Similar steps to what we're doing are covered here if the below isn't clear enough.

• Open the 2023 WPILib VS Code link (on your desktop?)

• Click the Source Control tab on the right ( Ctrl+Shift+G )

• Click the Clone Repository button

  • This will open the Command Palette at the top middle. You will come to know this VS Code feature well...
  • Click the Clone from GitHub option
  • Follow the on-screen steps to authorize vscode to access your github account

• Choose the applepi-2067/2023_Robot project

• Choose a directory to clone the project into that you will remember (e.g. Documents\FRC) a new subdirectory for the project will be created

• The first time the project opens it should start downloading dependencies and building the code. You should see the status of the build process listed at the bottom Terminal panel in vscode

  • If the build fails, you may not have completed the installation of the Phoenix Framework Installer (above).

Using vscode

• Most actions in vscode can be performed through the Command Palette

  • Open with ( Ctrl + Shift + P ) or View > Command Palette

• Some example commands you can run from the Command Palette

  • Build Robot Code - Compiles the code in the project
  • Deploy Robot Code - Compiles, deploys, and runs the code on the roborio (you need to be connected)
  • Simulate Robot Code - Compiles, deploys and runs the code in simulation.
    • You need to have the driverstation or simulated driverstation running to get into Auto or Teleoperated mode.
    • Requires simulation models to be implemented for verification of some functionality, but with a little work up front this can be a great way to test your code when you don't have access to robot hardware.
  • Complete list of commands here

Using git

• https://docs.wpilib.org/en/stable/docs/software/basic-programming/git-getting-started.html

TODO