6672's 2024 Robot Code

Robot Mechanisms

• Drivetrain: A standard swerve drivetrain using 4 SDS MK4 gearboxes with L4 gear ratios - TalonFX (Kraken motors for drive, Falcon 500 for steer), CANCoders, and a Pigeon 2 gyroscope. Our code directly uses the CTRE swerve API. Uses a pose estimator for odometry and PathPlanner for auto routines.
• Intake: One NEO Vortex, operates under the bumper. Code has commands for intaking and outtaking.
• Index: One NEO Vortex. Contains a beam break sensor for detecting if a note is already contained.
• Pivot: Two TalonFX, changes the shooter angle.
• Shooter: Two NEO Vortex motors for launching notes.
• Cobra (Climb): One TalonFX.
• Cameras: two Limelight 2+ cameras, one mounted on the shooter side, strictly used for detecting AprilTags and creating 3D pose estimates (used in the drivetrain's pose estimator), and a second mounted on the intake side for detecting notes and aiding driver vision.

PathPlanner Naming Conventions:

Mobility / # of pieces	Location	Step #	End Loaded (T/F)
2S	TOP	2	T
1S	MID	1	F
MOB	BOT	---	T

• The first example path is the second step of a two piece auto starting at the top of the robot starting zone that ends with a note loaded
• The second example path is the first step of a one piece auto starting at the middle of the robot starting zone that does not end with a note loaded
• The third example path is a simple path that is part of a mobility auto starting at the bottom of the starting zone that only moves out of the starting zone but also loads a note at the end

NamedCommands:

• RunIntake
• RunIndex (maybe)
• AimAtTarget
• ShootSpeaker
• ShootAmp