A robot for the SPUR-FLYS minigame, Mini-Up.

This features pure pursuit, lift PID, and intake anti jam. It uses EZ-GUI to see motor temperatures on the brain and autonomous selector.

Resources

BLRS Wiki PID
George Gillard PID
Tracking by 5225A
Pure Pursuit by Sarah
Adaptive Pure Pursuit by DAWGMA
Path Smoothing by James Teow
Boomerang Desmos by BLRS and Jamie
The Beauty of Bézier Curves by Freya Holmér

File description

General src/

• autons.cpp autonomous routines and chassis constants
• main.cpp main function calls

Subsystems src/

• intake.cpp intake code with jam detection and prevention
• lift.cpp lift code with presets and holds down

Util src/util/

• pid.cpp PID class used for all PID everywhere and exit conditions
• util/cpp general math

Drive src/drive/

• drive.cpp general drive functions and joystick curve modifier through controller
• exit_condiions.cpp finds out when robot is there
• pid_tasks.cpp point to point math that creates outputs to motors
• purepursuit_math.cpp path injection and smoothing
• set_pid.cpp setting PID and calculating paths
• slew.cpp ramps up max speed for the start of movements
• tracking.cpp calculates coordinates with motor encoders and IMU

License

This project is licensed under the Mozilla Public License, version 2.0 - see the LICENSE file for the full license.