XBot 2024 Robot Project

This is the robot project for the 2024 game season, Crescendo.

Operator Interface Commands

Driver Commands

• SwerveDriveWithJoySticks
• PointAtSpeakerCommand
• OrientToNearestNoteCommand
• FireWhenReadyCommand
• FireCollectorCommand
• DriveAndOrientToAmpCommand

Operator Commands

• LowerArmIntakeCommand
• EjectCollectorCommand
• FullSchoocherIntakeCommand (scoocher intake, scooch note and raise arm to let note pass)
• FullSchoocherEjectCommand (scoocher eject and scoocher wheels eject)
• EmergencyManualArmControlCommand
• PrepareToFireAtSpeakerDynamic
• PrepareToFireAtSpeakerFromSubwooferCommand
• PrepareToFireAtSpeakerFromPodiumCommand
• PrepareToScoreInAmp