Code for FRC 687's 2020 Robot, Thomas. This was our second year using NerdyLib, allowing us to reuse large amounts of code developed for our 2019 robots.
- Flywheel shooter controlled by velocity feedforward and TalonFX onboard velocity PID
- Continuous variable hood controlled by TalonSRX Motion Magic with rio-side feedforwards, sharing code with 2019's arm subsystem
- Auto aiming at the vision target using a Jevois or Limelight camera
- On-the-fly hood angle calculation for shooting from 10-20 feet from the goal using vision data
- Multiple autonomous modes using WPILib's ramsete controller and trajectory generation tools
- Dual elevators for climbing using 2019's elevator code
We wrote our second software binder describing the software and controls used on Thomas in-depth.