FRC 4152 Rick

2024 Robot With AdvantageKit and MapleSim Simulation

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Swerve based on original project here.

Highlights

• 5 note auto
• 7 Best Endgame EPA on statbotics

Using Simulation

When running the simulation, you can see the simulation results through AdvantageScope

• Add /assets/Robot_Rick_2024 to AdvantageScope assets folder
• Add /assets/Robot_Rick_Simple_2024 to AdvantageScope assets folder
• Included AdvantageScope Layout /assets/AdvantageScope Layout.json
• Ensure /src/java/frc/robot/Constants.java currentMode is set to Mode.SIM
• Run code in simulation.

Please drag the following fields:

• Open field AdvantageKit/RealOutputs/FieldSimulation/RobotPosition make it Robot/Rick 2024
• Open field AdvantageKit/RealOutputs/Intake/IntakePose make it component 1 of Robot/Rick 2024
• Open field AdvantageKit/RealOutputs/Climber/ClimberPose make it component 2 of Robot/Rick 2024
• Open field AdvantageKit/RealOutputs/ElevatorTrap/ElevatorStage2Pose make it component 3 of Robot/Rick 2024
• Open field AdvantageKit/RealOutputs/ElevatorTrap/ElevatorStage3Pose make it component 4 of Robot/Rick 2024
• Open field AdvantageKit/Vision/TagPoses make it a vision target of Robot/Rick 2024
• Open field AdvantageKit/RealOutputs/FieldSimulation/Notes and make it Note
• Open field AdvantageKit/RealOutputs/Intake/NoteInIntake and make it Note
• Open field AdvantageKit/RealOutputs/Odometry/Robot and make it Green Ghost/Rick Simple 2024
• Open field AdvantageKit/Vision/Pose and make it Blue Ghost/Rick Simple 2024
• Open field AdvantageKit/RealOutputs/Odometry/Trajectory and make it Trajectory
• Open field AdvantageKit/RealOutputs/Odometry/TrajectorySetpoint and make it Red Ghost/Rick Simple 2024

Controls

Driver Controller

• left Stick: Swerve XY Translation.
• Right Stick: Swerve Rotation.
• Left Bumper: Manual shoot will launch a note regardless of robots location and angle.
• Left Trigger: Auto shoot will automaticaly aim and drive the robot to the speaker and take the shot when all conditions are meet.
• Right Bumper: Runs intake at the floor pickup position with no assist.
• Left Bumper: Runs intake at the floor pickup position. If a note is visable then it will center the intake on the note. If the trigger is pressed over 50% then it will automaticaly drive the robot towards the visable note, varying the speed based on how much the trigger is pressed past the 50% point.
• left Stick Button (Our controller has back paddles mapped to the stick buttons): Automaticaly aim and lob a note to land infront of the speaker.
• Right Stick Button (Our controller has back paddles mapped to the stick buttons): Automaticaly drives to the amp and scores the amp once in location.
• A: Hold to shoot the note from against the subwoofer.
• B: Score the amp with manual alignment.
• X: Reset Pose Estimation.
• Y: Shoot note out of intake. Used mainly for a 2 notes stuck in the intake.

Operator Controller

• Hold A and left joystick up and down: Move climber up and down and hold in position when let go.
• Right Bumper: Runs trap scoring routine which hands note off to to trap mechansim and raises elevator up and shoots note out into trap if fully climbed on chain mostly centered on trap door.