2025-Robot

REEFSCAPE robot code

Controller layouts

TODO

• Swerve [NEW: MK4n!]
  • Verify accurate IDs
  • Measure wheel locations (should be square)
  • Ensure PID works
  • Current limits, friction, etc
• Elevator
  • Write infrastructure
    • Feedforward, PID
    • Setpoints
    • Manual control: total? slight adjustments?
    • Interactions with Algae Manipulator
  • SysID
    • Fast, but not too fast
• Shooter
  • Write infrastructure
  • Determine good speed
  • Redux Canandcolor - prevent elevator/coral collision
• Algae Scrubber
  • Write infrastructure
  • State tracking necessary?
  • Mostly operator-provided movement. Some location/setpoint control, see next
  • CRITICAL: software limits: prevent collision - Absolute encoder: Rev
  • Determine good speed for outer wheels
• Vision/Driving
  • Include AprilTags via LL2 in optometry
  • Driver assist: [nudge/take over] for lining up with Reef
  • IT DEPENDS: flight stick controls
  • OPTIONAL: driver buttons for juking, other stuff
• Autonomous
  • Create paths, match up commands

Resources

Introduction to System Identification

Controls

Advanced Controls Introduction

PID Control in Command-based

Limelight docs

Swerve code copied from SwerveBot.