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