The project involves building a swerve robot for the First Robotics Competition (FRC) season. This is the team's first time working with swerve technology and we have used code from team 3512 as a starting point. We have made updates to this code base in order to customize the robot for their needs. The goal of the project is to have a fully functional swerve robot ready before the new(2023) FRC season gets announced.
- ✅ A fully functional swerve drive
- ✅ Planning Autos using PathPlanner
- ✅ Rotation correction while operating the robot
- ✅ April Tag detection using LimeLight V2
- ✅ April Tag centering (The robot rotates towards them)
- ✅ Live PID tuning
- ✅ Use DPads on the controller to point the robot towards the values relative to the field
- Swerve
- MK4i L2 modules
- CANCoder
- Canivore (optional)
- Pigeon2
- Vision
- LimeLight V2 using gloworm and photonvision
https://user-images.githubusercontent.com/34334797/210486683-242ebc79-953b-423c-97c5-7192d4d101cf.mp4 https://user-images.githubusercontent.com/34334797/210486662-3d267d20-daa2-468e-8705-0b47538685da.mp4
https://user-images.githubusercontent.com/34334797/210486770-7e1728c3-9f2b-439c-a8ca-7e0606c730f5.mp4 https://user-images.githubusercontent.com/34334797/210486779-3ee382da-4185-445b-95fb-fbd038c385cd.mp4
Setup would be straight forward if your team is using the same hardware as long as you put in the correct values based on your robot in the Constants.java
- Clone the repository
- Don't forget to change the team number!!
- Here are the list of values that you'll need to change before enabling the robot
| Value | Location | Description |
|---|---|---|
| cameraName | Constants->Vision | The name of your camera, can be found in photonvision's dashboard, documentation |
| pigeonID | Constants->Swerve | Pigeon2 ID |
| pigeonCanBUS | Constants->Swerve | Put in "rio" if your pigeon is on the main loop. If it's on a canivore, put in whatever canbus your canivore is set to |
| trackWidth | Constants->Swerve | the length of your robot |
| wheelBase | Constants->Swerve | the width of your robot |
| wheelDiameter | Constants->Swerve | the wheel diameter, can be found in your swerve module's product page |
| driverGearRatio | Constants->Swerve | the gear reduction for drive motors, can be found in your swerve module's product page |
| angleGearRatio | Constants->Swerve | the gear reduction for angle motors, can be found in your swerve module's product page |
| Mod0, Mod1, Mod2, Mod3 | Constants->Swerve | Swerve module constats, starting from front left, front right, back left, back right in order. |
| driveMotorID | Constants->Swerve->Mod | Drive motor id for each module |
| angleMotorID | Constants->Swerve->Mod | Angle motor id for each module |
| driveMotorID | Constants->Swerve->Mod | Drive motor id for each module |
| canCoderID | Constants->Swerve->Mod | Can coder id for each module |
| cancoderCANBUS | Constants->Swerve->Mod | Drive motor id for each module |
| driveMotorID | Constants->Swerve->Mod | Drive motor id for each module |
| driveMotorID | Constants->Swerve->Mod | Drive motor id for each module |
| driveMotorID | Constants->Swerve->Mod | Put in “rio” if your pigeon is on the main loop. If it’s on a canivore, put in whatever canbus your canivore is set to |
| angleOffset | Constants->Swerve->Mod | After setting up the code, print out the cancoder values of each module, then straighten the wheels towards the front of the robot in a way the modules pinions are point outwards. Then put in the offset value for each module |
Pooria Ahmadi ☕❤️👨💻