3044 Feature Presentation

[Autumn-Ou]

Presenting 3044s Full Software System

One Big System

Linking together our 6 coprocessors, roboRIO, & Drive stations into a functional and easy system. Starting from the Dashboard, In Control is a custom dashboard built off AdvantageScope which allows for travel to any location in the field by clicking a point inside of the 3D Field, Automatic scoring by clicking the displayed scoring nodes, Camera feed handling & switching, Custom NT4 Connections, several dozen other features available to drivers to be used at their discretion.

Interfacing between the Dashboard & The Robot, when In Control sends a target destination for click drive the Rio send its current position and the target position to a dedicated coprocessor which will then send back a path for the bot’s pure pursuit system to follow, this data is serialized and sent a WebSocket.

From here the bot continues onto the location periodically updating the path with position updates from the four April Tag coprocessors & new obstacles discovered by the dedicated ML coprocessor’s detector system.

But why explain when we could demo

FRC Team 3044 Drivestation Demo

In Control

Release In Control 0.1.7 · Autumn-Ou/In-Control_Public (github.com)

Links to Our Software Stack

IDEs:

• JetBrains Fleet: The Next-Generation IDE by JetBrains
• Release WPILib 2023.4.2 Release · wpilibsuite/allwpilib (github.com)
• Visual Studio Code - Code Editing. Redefined

Dashboard

• Releases · Autumn-Ou/In-Control_Public (github.com)
• For access to the newer & much more stable version just ask

Custom Packages

• FRC-Resources/FRC-HDrive: HDrive Package for FRC (java) (github.com)
• April Tags (based off amquake apriltag workbench)
• Pathfinding, Will be released at the end of the season

ML Resources

• PyTorch
• WongKinYiu/yolov7: Implementation of paper - YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors (github.com)
• U-Net heatmapper (custom & still in active testing - unreleased)

Our Other Demos

• Pathfinding On The Fly with a 3d Field - FIRST / Robot Showcase - Chief Delphi
• Auto-scoring with Dynamic Pathfinding and Inverse Kinematics - Technical / Programming - Chief Delphi
• HDrive Simulation Framework - Technical / Programming - Chief Delphi
• Step for Full Autonomous (localizing cones) - Technical / Programming - Chief Delphi

[loganbachman]

@Autumn-Ou

Release In Control 0.1.7 · Autumn-Ou/In-Control_Public (github.com)

When I downloaded the app, the wiki button under help took me to github.com instead of the actual wiki. Issues button under help also took me to github.com//issues.
Might wanna fix that unless it has been fixed in later versions.

[Autumn-Ou]

It’s Because the public preview doesn’t have the source code which is how the wiki is stored I’ll work on fixing that for now you can use the built in wiki through the documentation tab it contains the same information and will more accurately match your version but thank you for bringing this to my attention.