2019-Robot-Code

Code located in src/main/java. Do not edit Main.java!

Class Structure:

1. Robot.java - Code starts here and contains all of the commands executed in the main loop.
2. DriveControlManager.java - DriveControlManager.java (DCM) contains the current state of the drivers including configs and controls
3. Drivetrain.java - Genereic drop-in code for a standard 4-motor tank drivetrain with an added exit feature
4. Arm.java - Contains arm control code with a feature to limit its acceleration to prevent breakage and to freeze the arm in position
5. HatchGrabber.java - Implements simple grab and release functions for the grabber.

Need to Add:

1. Potentiometer and PID for Arm angle sensing and control (Added at CVR)
2. Vision Code for drive base alignment with target (Drive Base Alignment code added)