Crate Robot

2.0 version of the code for the FRC 4571 robot that went to the World Championships

About the Robot

Tasks

1. Drive around using mecanum wheel system [ Drive subsystem ]
2. Get a hold of a crate about 3 feet x 2 feet [ Arm subsystem ]
3. Pick up the crate and place it on an overhead shelf [ Elevator subsystem ]

Hardware

1. Drive subsystem

   • Mecanum wheels
   • 4 Talon SRX speed controllers

2. Arm subsystem

   • Steel arms that open and close
   • Solenoid to control the arm movement

3. Sweep subsystem *

   • Solenoid to control the sweeping movement

4. Elevator subsystem

   • Steel lift/elevator system that are controlled by pneumatics
   • Limit switch to control extent of motion of the elevator

Software

Setting up development environment

1. Clone the repository
2. Run gradlew eclipse for Eclipse, or gradlew idea for IntelliJ (Linux/Mac users should use ./gradlew instead of gradlew.)
3. Edit the build.gradle file to reflect your desired configuration (e.g. changing the team number)

To build this module, simply run gradlew build. To deploy this module to your Robot, simply run gradlew deploy. If you haven't already, you can deploy Toast to your Robot by running gradlew toastDeploy.