MiniFRC Robot Code

Runs on Teensy 3.5 microcontroller

Features:

• Motion profile generation (cubic spline)
• Pure pursuit tracking algorithm
• Dynamic realtime 3D superstructure collision detection
• Velocity PID controller
• Memory optimized code
• Memory optimized schedular

Command Structure:

robotState_s --> Superstructure class --> Subsystem class --> Individual component classes

Classes:

• Superstructure simulation: robot/superstructure/SuperstructureMath.cpp
• Path follower: robot/autonomous/follower/Follower.cpp
• Schedular: robot/Schedular.cpp

TODO:

• Elevator collision resolution
• Model based feedforward