RobotCode2020

Code for Team 2502's 2020 robot for Infinite Recharge: Orion

Features

• Accurately score balls into the outer port anywhere 10-25ft from the target

  • Lookup table + interpolation lets us convert from Limelight ty to distance from target
  • Another lookup table + interpolation converts from distance to shooter rpm
  • Fallback speed provided if Limelight doesn't detect the target

• Vision alignment routine automatically stops driver from getting too close to the target