Team Tators has some code/CAD to post also.
Our CAD postings are up
here. The only thing we have up there currently is a roboRIO mount and port protector.
Our offseason robot code is up
here. This is the first time we as a team have used Java for a robot, actually. Some interesting things about what we did:
- We used gradle + a custom script called build.sh to build and deploy code to the robot. Since we used gradle, we could also use external libraries easily, even between team members computers.
- We split up the robot code into 4 parts.:
Desktop, which does not depend on WPILib at all and opens a GUI simulation of the robot.
Rio, which actually runs on the roboRio and contains all of the WPILib-specific code.
Core, which contains all code common to both rio and desktop.
And config, which contains YAML files which can be modified to easily change the behavior of the robot. - We have code for interfacing with an ADXRS453 gyro here. This differs from WPILib's implementation in that it measures the delay of each run of the Notifier, providing for more accurate rate integration.
- We have our auton modes written in our config files, which allows for quick and easy tweaks without having to reupload code.
We are also releasing our vision code for the same robot
here. This is mostly written in Kotlin, and uses OpenCV and NetworkTables to process images from a Raspberry Pi Camera and send angle values back to the roboRIO for targetting.
That's basically it.