Here are the new things we’ve worked on since last season.
For our preseason we made 5 FTC sized minibots. This year we modified the wpilib romi framework to work on RPI/Jetson boards with this hat https://www.amazon.com/MakerFocus-Resolution-Interface-Compatible-Raspberry/dp/B07H9ZTWNC. While currently only pwm outputs are implemented, it allowed us to program the minibots just like an FRC bot. Why don’t we have a native wpilib rpi HAL? It would be easy to support a hat like this, CAN and some inputs. Maybe a good project for next summer. Code is here: GitHub - FRC-Team-4143/wpilib-ws-robot-romi One of the minibots:
Here is a diffswerve module with wider SDS wheels:
Here is our RapidReact cad:
And here are some experiments on AprilTags with CUDA, NVidia Jetsons, and different cameras .
Let me know if any of the links don’t work.