Team 319 is proud to release our final code for 2018. As always, 319 has an open policy on everything and this code has been publicly available since kickoff, but we’re excited to answer any questions you have.
This year we maintained two repositories. One for our 2018 robot code, and one for our path generator:
BobTrajectory uses 254’s 2014 arc generation code, and then translates it to Java files with properties that can be fed to TalonSRX controllers in motion profile arc mode. It enabled us to get a fairly reliable 2.5 cube scale auto and a 3 cube switch auto this year, as well as several other teams.
Thanks for sharing your code and keeping things public during the season. All your help was greatly appreciated by 558 this year.
It’s great that you guys do some advanced stuff but also follow the command based structure. It helps teams like us that are still learning java and stick to the WPI architecture but also want to keep improving and developing more complex controls.
I wanted to ask about your autotune classes.
Were these actually used to tune this year or was this an experimental thing? Did you find the gains you got from these were fairly accurate or were you still making adjustments and using these as a general starting point?
Good catch! I forgot about the autotune classes. We didn’t use them so much this year as we did last year. They’re basically a programmatic way of following CTRE’s velocity tuning walkthrough. We used them last year and they got us probably 90% of the way. I’d say it cut our tuning time by at least 70%.