✨🎶 FRC 2606 🎶✨

Team 2606's 2404 FRC robot code for Crescendo. Crescendo's code is written in Java and is based off of WPILib's Java control system.

The code is divided into several packages, each responsible for a different aspect of the robot function. This README explains setup instructions, the function of each package, and some of the variable naming conventions used. Additional information about each specific class can be found in that class' Java file.

Setup Instructions

General

• Clone this repo
• Run ./gradlew to download gradle and needed FRC libraries
• Run ./gradlew tasks to see available build options
• Enjoy!

Building/Deploying to the Robot

• Run ./gradlew build to build the code. Use the --info flag for more details
• Run ./gradlew deploy -PteamNumber=2606 to deploy to the robot in Terminal (Mac) or Powershell (Windows)

Wiring Compontents Diagram

Subsystem	Controller	Name	ID	PDP
Drivetrain	SparkMax	LeftFront	1
Drivetrain	SparkMax	RightFront	2
Drivetrain	SparkMax	LeftRear	3
Drivetrain	SparkMax	RightRear	4
Intake	TalonSRX	Intake	5
Shooter	SparkMax	ShooterTop	6
Shooter	SparkMax	ShooterBottom	7
Arm	TalonSRX	ArmMotor	8
Lift	TalonSRX	LiftMotor	9

Code Highlights

• Building with Gradle

  Instead of working with Ant, we used GradleRIO, which is a powerful Gradle plugin that allows us to build and deploy our code for FRC. It automatically fetches WPILib, CTRE Toolsuite, and other libraries, and is easier to use across different IDEs.

Package Functions

• frc.robot

  Contains the robot's central functions and holds a file with all numerical constants used throughout the code. For example, the Robot class controls all routines depending on the robot state.

• frc.robot.subsystems

  Subsystems are consolidated into one central class per subsystem, all of which extend the Subsystem abstract class. Each subsystem uses state machines for control. Each subsystem is also a singleton, meaning that there is only one instance of each. To modify a subsystem, one would get the instance of the subsystem and change its state. The Subsystem class will work on setting the desired state.

• frc.robot.commands

  Commands define the operation of the robot incorporating the capabilities defined in the subsystems. Commands are subclasses of Command or CommandGroup. Commands run when scheduled or in response to buttons being pressed or virtual buttons from the SmartDashboard.

Variable Naming Conventions

• c*** (i.e. cAutonomous): Command instance variables
• k*** (i.e. kDriveWheelTrackWidthInches): Final constants, especially those found in the Constants.java file
• m*** (i.e. mIsHighGear): Private instance variables
• s*** (i.e. sDrivetrain): Subsystems variables, especially those found in Robot.java file

PID Tuning Method

1. Start by setting I and D to 0.
2. Increase P until the system starts oscillating for a period of Tu. You want the oscillation to be large enough that you can time it. This maximum P will be referred to as Ku.
3. Use the chart below to calculate different P, I, and D values.

Control Types	P	I	D
P	.5*Ku	0	0
PI	.45*Ku	.54*Ku/Tu	0
PID	.6*Ku	1.2*Ku/Tu	3*Ku*Tu/40

Other Conventions

Doubles

Should have a postfix 0 (i.e. 0.1 not .1)

Programmers

Students

Nick

Mentors

Nate