Re: Team 254 Presents: 2015 FRC Code
 

The goal of the sin functions is to make the turning input less sensitive in the middle and more sensitive at the edges. I'm sure you could do it other ways, but that was the first one which popped into my head in 2011 when that code was written. When you are barreling down the field at full speed, you want to be able to make fine corrections, and also be able to throw it into a pretty hard spin.

Negative inertia is an idea which I stole from the Thinkpad trackpoint. https://en.wikipedia.org/wiki/Pointing_stick It adds extra turn power in to compensate for the inertia of the robot. The end result is that the robot feels more responsive.

Re: Team 254 Presents: 2015 FRC Code
 

Just out of curiosity, how much of this code do you guys re-use each year?

Re: Team 254 Presents: 2015 FRC Code
 

The drive code and a lot of the utility code (e.g. math functions, PID controllers, drivers, etc.) get re-used, but the majority of the automation, autonomous mode, user interface, etc., is game specific and written from scratch.

Re: Team 254 Presents: 2015 FRC Code
 

They release code each year... so you should be able to determine a detailed answer... if there is still access to previous year's code. I have kept some old code probably 3 or 4 years ago if you can't find it.

That state machine code is something really amazing... I haven't looked at it lately to see if it is still there, but perhaps someday I may have another look at how it has evolved.

Re: Team 254 Presents: 2015 FRC Code
 

You can view their GitHub at: https://github.com/Team254
Examine the code and you should be able to tell what gets carried over and what doesn't.