2020bot

This is the source code for the ESHS Potatoes' 2020 FRC Infinite Recharge robot.

Subsystem breakdown

Drive subsystem

Swerve drive

Motors:
- 4x Neo
- 4x Neo 550
Controllers:
- 8x Spark Max
Sensors:
- Gyro
- Accelerometer

Climbing subsystem

Motors: 2x Andymark gear motors
Controllers: 2x standard Spark
Other:
- 2x tape measure belts with hooks at the end

"Wheel of Fortune" subsystem

Motors: 1x Neo 550
Controllers: 1x Spark Max
Other:
- Pliant wheel
- Pneumatics (to raise and lower the wheel)
- Color sensor (to control the wheel's final color)

Intake subsystem

Motors: 1x Neo 550
Controllers: 1x Spark Max
Other:
- Pneumatics (to raise and lower the entire intake chamber)
- Uses right-handed Mecanum wheels, left-handed Mecanum wheels, and Omniwheels in the center to direct the power cells.

Belt subsystem

Motors: 2x Mini-CIM
Controllers: 2x standard Spark
Sensors: ??? (for ball detection)
Other:
- Smooth belts
- Pneumatic indexer, to temporarily stop the balls from entering the shooter (this allows shot separation)

Shooting subsystem

Motors: 2x Neo
Controller: 2x Spark Max
Other:
- 2x flywheels (oriented vertically)
- 1x Vision camera (preferably Limelight)

Total

Motors: 16 (6 Neo, 6 Neo 550, 2 Mini-CIM, 2 Andymark gear)
Motor controllers: 16 (12 Spark Max, 4 standard Spark)