Team 5419 Example Code

This code is intended to be a learning repository that gives an example of how I would have written the 5419 clone robot's arm code.

Package Functions

Custom Code

• com.team5419.frc2023

  Contains the robot's central functions and holds a class with all numerical constants used throughout the code ( see Constants.java). For example, the Robot class controls all routines depending on the robot mode.

• com.team5419.frc2023.loops

  Contains codes for loops, which are routines that run periodically on the robot, such as for calculating robot pose, processing vision feedback, or updating subsystems. All loops implement the Loop interface and are handled (started, stopped, added) by the Looper class, which runs at 100 Hz. The Robot class has one main looper, mEnabledLooper, that runs all loops when the robot is enabled.

• com.team5419.frc2023.subsystems

  Contains code for subsystems, which are consolidated into one central class per subsystem, all of which extend the Subsystem abstract class. Each subsystem uses state machines for control and is a singleton, meaning that there is only one instance of each. Subsystems also contain an enabled loop, a read periodic inputs method, and a write periodic outputs method, which are controlled by the SubystemManager class.

• com.team5419.frc2023.Ports

  Contains a list of IDs for each motor on the robot.

• com.team5419.frc2023.DriverControls

  Contains calls that decipher inputs from Xbox Controllers and runs on the enabled loop. This class gets updated prior to the subsystem manager so the robot will respond with your inputs on the same loop.

• com.team5419.frc2023.subsystems.ServoMotorSubsystem

  Custom class that builds out functions needed to move most subsystems. Has error checking for parameters that are set.

Team 254 Code

• com.team254.lib.drivers

  Contains a set of custom classes for motor controllers, color sensors, and solenoids for simplifying motor configuration, reducing CAN Bus usage, and checking motors.

• com.team254.lib.motion

  Contains all motion profiling code. Trapezoidal motion profiles are used for smooth acceleration and minimal slip.

• com.team254.lib.util

  Contains a collection of assorted utilities classes used in the robot code. Check each file for more information.