todo-2017

Toronto Robot Framework

The Toronto Robot example class T_Robot extends the WPILIB Iterative Robot. It adds example code to read from a Joystick or GameController and drive the robot using a Left/Right drive with encoder feedback and an analog gyro.

The example code uses Proportional Feedback Control (PID - P only) to control the speed of the robot motors precisely using encoder feedback for each drive motor.

Gyro feedback examples show how to control the robot direction using a gyro for accurate autonomous tracking.

Various commands are illustrated as building blocks for a complete autonomous including:

• Driving to a specific encoder distance
• Driving until a sensed value is reached (ultrasonic distance or proximity sensor)
• Turn to face an angle using the gyro
• Drive in a specific compass heading using the gyro

The frameworks have built in routines to organize the code that updates the SmartDashboard

Operator Control Layer

Operator Input

• T_OI (low)
• T_AutoChooser (low)
• T_Toggle (Brendan)

Controllers and Joysticks

• T_GameController
  • T_LogitechGameController
  • T_XBoxGameController (Syed)
  • T_PS4GameController (Rishab)
• T_JoystickController
  • T_LogitechJoystickController

Sensors

• T_Gyro (Stuart D.)

Command Layer

Default Driving Commands

• T_GameControllerDriveCommand (Maninder)
• T_JoystickDriveCommand

Useful Commands

• T_DriveToDistance - encoder
• T_DriveToDistanceOnHeading - gyro, ultrasonic, encoder (Stuart)
• T_DriveToUltrasonicOnHeadingCommand - (Yu Ying)
• T_DriveToSensorOnHeading
• T_TurnToAngle (Stuart D.)
• T_DriveForSeconds
• T_DriveForSecondsOnHeading

Subsystem Layer

Subsystem Definition

• T_Subsystem

Links to

• RobotMap
• RobotConst

Utility Classes

• T_PID_Controller

Motors

• T_Motor
• T_MotorWithLimits

Vision Processing for 2017

• start here FRC Vision Processing