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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