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This should be a good starter code for this year and hopefully the year to come, it's not too broad, and it's specific enough to basically serve as a starter code for the actual robot.

It has a hopefully working tank drive and cheesy drive, PID controls, and some other basic structures.

Set Up

Follow https://20dzhong.github.io/gradleSetup/ for setup instructions, or just ask a Programming Lead.

Hierarchy and Usage

RobotMap: this is where you map your motors or anything else that connects to the roborio.

OI: binds controller buttons and joysticks

Robot: file that connects everything and runs them

Triggers: declare button input

Subsystems: declares what to do, make a system of commands and system, subsystem declares the methods while commands declares the execution orders and function

Comamnds: decalres how to do an action, requires subsystem and execute a specific command

Subsystem class is declared and initialized in Robot

The subsystem object is passed into a command

TODO

Implement Feed Forward Augment Control PID

Add Encoder Skeleton

Create Drive Mode Trigger, probably will be one of the button on the joystick

Pack CTRE Motor Library into Dependency