My Exclesior

Inside the Code of the My Exclesior

Robot Architecture

The codebase follows a command based architecture using WPILib Java. What does this mean?

• The Robot class acts as the main coordinator, initializing modes and scheduling command execution
• Subsystems like the drivetrain, intake, and shooter encapsulate the hardware control
• Commands are action classes that control the subsystems to perform robot behaviors
• The RobotContainer is where everything gets wired together - default commands, button bindings, and auton modes

This architecture allows flexibility when programming the robot capabilities. New commands can be introduced without having to modify the subsystems.

Robot Capabilities

• Teleoperated mode - The joysticks drive the drivetrain around and buttons control sequences like shooting a ball
• Autonomous mode - Preprogrammed routines in AutoMode.java are selected on the driver station and perform tasks like scoring in goals
• Vision targeting - A camera provides positioning data to improve shooting accuracy

Some of the key robot actions include:

• Driving in tank steer with dual joysticks
• Running the intake wheels to grab game pieces
• Indexing balls in the conveyor
• Firing balls out of the flywheel shooter
• Aligning to targets using vision
• Climbing at the end of match with an elevator

Before You Use

• Ensure that the GradleRIO, StuyLib, and venderdeps versions are up-to-date in your new repository.

To Update | Maintain

• Import project to the latest version of WPILib using the built-in import tool.
• Check that the GradleRIO version is up to date.
• Check the latest version of StuyLib here and update the version in ./build.gradle.
• Update the files in ./venderdeps with their latest version, checking their respective websites.