[DrewMitchell]

Here is the Java code release for our robot, WarHawk, for the 2015 season. We had an originally 4-axis but then 3-axis robotic arm that we used to maneuver the game objects.

Inside the zip file, there is a PDF file detailing the functionality and design of the arm, as well as the source itself.

Here are some of the highlights of our robot:
• Motion profile planning provided coordinated control for the 3-axis “industrial” robot arm.
• Forward and inverse kinematics transformed robot arm joint angles to XYZ coordinates and vice versa.
• Cascading control loops dedicated for each axis - outer loop on RoboRIO, inner loop on Talon SRX.
• Teleop tote stacking operation ran autonomously with operator “supervision”.
• Operator had ability to pause stacking operation at any time, make corrections, and resume cycle.
• Robot arm command list architecture allowed fast and flexible scheduling of commands.