Team 1094 LabVIEW Code Release for Stronghold

[Jonathan L.]

Team 1094 the Channel Cats would like to release our innovation in control award winning LabVIEW code for the 2016 FIRST Stronghold season.

It is available on gitlab at https://gitlab.com/frc1094/2016-robot-project/tree/master. You can download a zipped copy of the project by clicking this direct download link.

We have made a number of innovations in our code this year as well as reusing some concepts from past years. Features include:

• Cardinal alignment buttons which allow the driver to drive behind the drawbridge without using a camera.
• XY position tracking throughout autonomous using the navX yaw and the drive encoders.
• Vision processing (with processing done on the roboRIO) to update the XY position when in sight of a target.
• Ability to drive from XY coordinate to XY coordinate in autonomous.
• Ability to tell when a defense has been crossed by using the navX pitch.
• Populate drop-down menus on the dashboard from the robot code. The drop-down menus define the starting position and orientation of autonomous. Here is a related thread.
• Camera, sensor and debugging data sent to the dashboard and automatically recorded.
• Easily use pre-recorded match video to tune vision settings.
• LabVIEW code hosted on GitLab.com. See the readme in the repository linked to above for details on how we set this up.

I have attached a document which explains details of some of the features above.

Questions and comments are very welcome. Good luck and skill in 2017!



Disclaimer: A few changes were made to the automatic recording feature in the dashboard code prior to our last competition due to some matches not getting recorded properly. These changes were never tested. There may be a few other minor places where code was not tested or did not have an actual function in the latest configuration of our robot.