St. Mark's FTC-A Decode Repo For Team 23381 "The Marksmen"

ADB connect instructions

if adb devices doesn't show any devices:

1. connect to driver hub using wifi
2. use adb connect 192.168.43.1
3. now try adb devices

programming conventions

units

• all distance units: millimeters
• all angle units: radians
• all speed units: TPS or radians/s
  • TPS for commanding motors directly
  • radians/s for math (bcuz it's easy for physics)

odo distances

• robot length (back to front) is 420mm / 16.53543"
• robot width (left to right) is 400mm / 15.74803"

Hardware Map

driver station config name: parallel plate v0

control hub

I²C ports/buses

port/bus	device	location	verbatim name
1	Pinpoint Odo Computer	left side under control hub	odo

having sensors 1/2 on the left/right doesn't matter because we are just comparing values

USB port

port	device	verbatim name
USB	Limelight 3A	limelight

the Limelight will show up as Ethernet Device under the USB devices, make sure to rename it to the verbatim name

DC motors

motor port	verbatim name	encoder?
0	frontLeft	❌
1	frontRight	❌
2	backLeft	❌
3	backRight	❌

make sure to connect every motor with the correct polarity, the reversing should be done in software

servos

servo port	verbatim name
0	lowerTransfer
1	upperTransfer
2	none
3	none
4	none
5	none

expansion hub

connection method (ports matter)

I2C ports/buses

port/bus	device	location	verbatim name
0	REV 2M Distance Sensor	intake	intakeSensor
1	REV Color Sensor V3	lower transfer	lowerTransferSensor
2	REV 2M Distance Sensor	left side of lower transfer	upperTransferSensor
3	unused	unused	unused

having sensors 1/2 on the left/right doesn't matter because we are just comparing values

DC motors

motor port	verbatim name	encoder?
0	intake	❌
1	launch	✅
2	none	❌
3	none	❌

Controller Map

Sticks

left stick

• X: move X (absolute coordinates)
• Y: move Y (absolute coordinates)

right stick:

• X: rotate clockwise/counterclockwise
• Y: not used

bumpers

• left bumper: auto turn to goal
• right bumper: launch ball

triggers

• left trigger: slow mode
• right trigger: launch power (when manually controlled)

buttons

face buttons

• A: toggle intake
• B: toggle manual/automatic launch
  • auto: uses odo to find out needed launch speed to reach goal
  • manual: sets launch speed to constant defined in Tunables.java (calibrated for shooting from crease)
• Y: launch 3 balls
• X: reverse intake

d-pad

• up: increase launch RPM setpoint
• down: decrease launch RPM setpoint

other buttons

• start: toggle field/robot centric
• back: reset field centric heading

OpModes

TeleOp

• BlueTeleOp: TeleOp for blue team
• RedTeleOp: TeleOp for red team

Auto

Blue Team

• BlueTriAuto: starting by bottom triangle
• BlueGoalAuto: starting by blue team goal

Red Team

• RedTriAuto: starting by bottom triangle
• RedGoalAuto: starting by red team goal

util

• FlywheelTest: test flywheel max speed
• LaunchDelay: test and tune delays for launch
• ServoTest: test servo endpoints

State Machines

auto states

1. START
2. TRAVEL_TO_LAUNCH
3. LAUNCH
4. TRAVEL_TO_BALLS
5. RELOAD
6. GO_TO_END
7. END

ball triplets remaining

• starts at 4 (1 in robot, 3 on field)
• decrements every launch

launch states

1. OPENING_UPPER_TRANSFER
2. PUSHING_LOWER_TRANSFER
3. WAITING_FOR_EXIT

balls remaining

• starts at 3 (all in robot)
• decrements by 1 every ball that is launched
• reset to 3 and return true when it hits 0