☘ FRC-7660 Robot 2026 ☘

Robot code for FRC Team 7660 (The Byting Irish).

Key docs

Controls

a -> (on true) zero's gyro based on alliance zone x -> (while true) intake arm is zeroed leftBumper -> (while true) toggle intake roller rightTrigger -> (partial) activate turret rotation rightTrigger -> (full) initiate shooting leftTrigger -> intake arm deployment

NeutralToBallPickup Autonomous

Summary

NeutralToBallPickupAuto is a hybrid autonomous routine that combines:

• Choreo split pathing for deterministic travel to/from the ball area
• Vision-guided pickup behavior during a timed middle phase

Current flow:

1. Follow Choreo split 0 from neutral zone to ball area
2. Run a timed pickup loop for 5s
3. If timeout occurs while currently approaching an object, allow a short finish window
4. Follow Choreo split 1 for return
5. Print "hands up -- shooting now" as the end action placeholder

Strategy

• Use Choreo for repeatable long-travel segments.
• Use object detection in the pickup zone where exact trajectories are less reliable.
• Keep search simple and deterministic:
  • If object exists, drive toward it.
  • If no object exists, rotate CCW in 15-degree search chunks.
• Use object area as a proxy for pickup:
  • Area crossing 8% counts as a proxy pickup event.
• Return is timeout-driven, not count-driven.

Architecture

• frc.robot.autonomous.NeutralToBallPickupAuto
  • Builds the full command sequence (split0 -> pickup -> split1 -> shoot print).
  • Loads Choreo splits using PathPlannerPath.fromChoreoTrajectory(name, splitIndex) and follows with AutoBuilder.followPath(...).
  • Runs pickup loop with Commands.startRun(...).
• frc.robot.autonomous.AutonomousManager
  • Registers this routine in the chooser as Neutral To Ball Pickup.
  • Sets this routine as the default autonomous option.
• frc.robot.subsystems.swervedrive.SwerveSubsystem
  • Provides getBestDetectedObjectAnyCamera() to expose the best non-fiducial object across camera0/camera1.
• frc.robot.Constants.NeutralToBallPickupAutoConstants
  • Central place for all routine tuning constants.

Choreo Requirements

• Expected trajectory base name: NeutralToBallPickup
• Expected file path:
  • src/main/deploy/choreo/NeutralToBallPickup.traj
• Expected splits in this file:
  • Split 0: outbound to ball area
  • Split 1: return path

You do not need one file per split. One .traj with multiple splits is sufficient.

SmartDashboard

• Proxy pickup count is published to:
  • Auto/NeutralToBallPickup/ProxyPickups

Constants (Current Defaults)

Location: frc.robot.Constants.NeutralToBallPickupAutoConstants

• DEFAULT_TRAJECTORY_NAME = "NeutralToBallPickup"
• DEFAULT_PICKUP_TIMEOUT_SEC = 5.0
• POST_TIMEOUT_FINISH_GRACE_SEC = 1.5
• SEARCH_ROTATE_STEP_DEG = 15.0 (CCW search)
• OBJECT_PICKUP_AREA_PERCENT_THRESHOLD = 8.0
• OBJECT_APPROACH_MIN_FWD_MPS = 0.10
• OBJECT_AREA_TO_FWD_GAIN = 0.08
• OBJECT_YAW_TO_ROT_GAIN = 2.0
• Drive mode caps:
  • MAX_MODE_FORWARD_MPS = 0.35
  • MAX_MODE_ROTATION_RAD_PER_SEC = 0.35
  • DEBUG_MODE_FORWARD_MPS = 0.35
  • DEBUG_MODE_ROTATION_RAD_PER_SEC = 0.35

Notes on AprilTag Usage

• Choreo path following itself does not require AprilTags.

• The drivetrain pose estimate can still be corrected by vision if enabled in the swerve subsystem.

• In this project, vision-assisted updates remain enabled during autonomous/pickup behavior.

• Vision/fusion/fuelPalantir architecture and dashboard variables: README_VISION.md

• Agent workflow notes for this repo: AGENTS.md