Team 6502 robot code for the 2019 season.
FYI: Touching build.gradle or Main.kt will probably break things.
- Drivetrain
- Drive straight assist
- Velocity drive
- Vision (coming soon)
- On-RIO characterization (kV and kS)
- Ramsete spline following
- Elevator
- Trapezoidal height control for maximum smoothness
- Minimal driver control (elevator knows what game piece it has and moves accordingly)
- Cargo intake
- Automatic shutoff when cargo has been acquired
- Hatch intake
- Moves hatch panels around.
- Coordinated autonomous elevator movement to pick up and place panels with one button