Whitepaper - Subzero Robotics 2024 Software Recap

Hey all!

This season marked the 10th year SubZero Robotics competed. It was also the senior year for 14 members on our team, and because of this, considerable effort was put into creating a robust, reliable, and highly competitive robot. We created a whitepaper to serve as a resource or future members of both our team and others to guide them in implementing similar features.

Highlights:

  • Object detection and automatic note aiming
  • Automatic aiming at fixtures in teleop
  • On-The-Fly pathfinding / scoring in teleop with PathPlanner
  • A simple class abstraction for building SingleAxisSubsystems, arms, climbers, etc
  • AprilTag pose correction with photonvision
  • A custom LED board that supported multiple led strips and numerous patterns
  • A macro keypad for performing fully autonomous actions in teleop
  • A custom state machine for managing the above
  • All of the lessons we learned along the way

whitepaper.pdf (11.4 MB)

We would like to thank all of our sponsors that made this possible, and for the parents and teachers that supported us each in their own way throughout the season.

As always, all of our code is open source and can be found here: GitHub - SubZero-Robotics/2024-CommandRobot: 2024 robot code for FRC 5690

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