Skip to content

IronReign/ftc_app_rr2

Folders and files

NameName
Last commit message
Last commit date

Latest commit

0c7b88d · Sep 11, 2019
Nov 12, 2016
Jul 13, 2019
Jul 23, 2019
Jan 14, 2019
Sep 11, 2019
Jan 5, 2019
Jan 11, 2019
Aug 31, 2015
Apr 25, 2019
Feb 10, 2019
Sep 11, 2019
Sep 8, 2016
Sep 8, 2016
Feb 9, 2017
Feb 9, 2017

Repository files navigation

ftc_app_rr2

This repository contains the code used by Iron Reign Robotics during the 2018-2019 FIRST Tech Challenge Rover Ruckus season.

Developers

Features

  • Full autonomous and more (85 points) including
    • Delatching (30 points)
    • Sampling using OpenCV Vision (25 points)
    • Scoring sampled gold (5 points)
    • Claiming depot (15 points)
    • Parking in crater (10 points)
  • VisionProvider abstractions
    • Allows runtime selection of vision backend
    • All backends developed over the season, best performing selected
    • Choice between
      • TensorFlow Object Detection CNN
      • OpenCV pipeline
      • Vuforia object tracking
      • Custom trained classification CNN
      • Dummy backends which always provide the same answer
    • Choice between different cameras at runtime
  • State Machines
    • Allows autonomous code to be written as a sequence of "states" or actions
    • Each state is responsible for performing its action and handing over control when it is complete
    • State Machine keeps track of sequences of states and currently executing state
    • Full autonomous routine can be written in 30 lines of code
  • Articulations
    • An articulation is a position of the robot, made up of encoder targets for each of the subsystems
    • Using articulations, the robot can adjust itself into any of a large number of pre-defined positions
    • The articulation manager is responsible for maintaining the current articulation of the robot, as well as managing transitions between articulations
    • Subsystem target-heavy routines during autonomous are encoded as articulation transitions
    • Articulations are also used during the driver-operated period where drivers press single buttons to switch into the next logical articulation to complete a mineral cycle

Questions and Further Information

Please contact Arjun at arjvik@gmail.com for any questions regarding this code.

About

No description, website, or topics provided.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages