Competition code for team 2930, The Sonic Squirrels, 2024 FRC Crescendo robot "Maestro".
Won innovation in controls award at district event and autonomous award at PNW regional championship.
- Full-field vision using 2 April Tag cameras and 2 Orange Pis
- Multi-tag PNP support
- Mid-game automated alignment to amp
- Mid-game automated alignment to trap
- Autonomous state machines for better logic organization
- Ability to dynamically adjust to next game piece in auto if desired one is missing
footage of this in action
- Custom path following using Choreo Choreo
- 15 autos with multiple permutations of each auto
- Neural network "AI" game piece vision using Photon vision for dynamic path adjustment footage of this in action Photon vision object detection
- Simulated vision (note: does not support multi-tag)
- Simulated swerve (per 3061-lib)
- Simulated Elevator, Arm, and Shooter
- Logging and replay via AdvantageKit
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autonomous- Autonomous -
CommandComposer.java- Driver Assist functions -
vision- Vision system -
ShootingSolver.java- Shooting Solver
- 3061-lib for the swerve library and base advantage kit structuring 3061 Lib
- MK4/MK4i code initially from Team 364's BaseFalconSwerve
- general AdvantageKit logging code, AdvantageKit-enabled Gyro classes, swerve module simulation and drive characterization from Mechanical Advantage's SwerveDevelopment
- Setting up Spotless code linting WPILib Spotless setup
- Sleipnir Group Choreo Choreo