FRC Team 2813 Public Release of Software 2020 and 2021

FIRST General Forum
#1

FRC Team 2813 would like to share the code we developed for the 2020 and 2021 season.

FRC 2813 Public Code 2020-2021 GitHub

Thanks!

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#2

Wow, your git history cleanliness is quite impressive, kudos!

Couple questions/thoughts (sure I’ll have more eventually):

  • What are your team’s reasons for choosing TimedRobot over Commandbased?
  • It seems odd to me that the limelight can be changed both in a subsystem and the robot, mainly for concurrency reasons. Is there a particular reason you choose to do that?
  • Your autonomous code looks surprisingly similar to a command. Is there a reason you to create an “action” superclass over a command?
  • Your robot init file seems to have an awfully lot of code in the try statement. Does all of that have the potential of failing and needing caught?
#3
  • We’ve always used TimedRobot to take advantage of the periodic timer (autonomousPeriodic, teleopPeriodic, etc.)
  • The Limelight class is a singleton. We can get an instance of that singleton and can change whether the lights are on/off anywhere.
  • This has to do with the way we use the looper (Looper.java) to go through the subsystems as well as autonomous. If we were using the CommandScheduler instead we would have used commands.
  • This is just messy code. There should be less code in the try block.
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#4

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