This repository contains the code used by Iron Reign Robotics during the 2018-2019 FIRST Tech Challenge Rover Ruckus season.
- Arjun Vikram (arjvik)
- Abhi Bhattaru (abhimaster2001)
- Full autonomous and more (85 points) including
- Delatching (30 points)
- Sampling using OpenCV Vision (25 points)
- Scoring sampled gold (5 points)
- Claiming depot (15 points)
- Parking in crater (10 points)
- VisionProvider abstractions
- Allows runtime selection of vision backend
- All backends developed over the season, best performing selected
- Choice between
- TensorFlow Object Detection CNN
- OpenCV pipeline
- Vuforia object tracking
- Custom trained classification CNN
- Dummy backends which always provide the same answer
- Choice between different cameras at runtime
- State Machines
- Allows autonomous code to be written as a sequence of "states" or actions
- Each state is responsible for performing its action and handing over control when it is complete
- State Machine keeps track of sequences of states and currently executing state
- Full autonomous routine can be written in 30 lines of code
- Articulations
- An articulation is a position of the robot, made up of encoder targets for each of the subsystems
- Using articulations, the robot can adjust itself into any of a large number of pre-defined positions
- The articulation manager is responsible for maintaining the current articulation of the robot, as well as managing transitions between articulations
- Subsystem target-heavy routines during autonomous are encoded as articulation transitions
- Articulations are also used during the driver-operated period where drivers press single buttons to switch into the next logical articulation to complete a mineral cycle
Please contact Arjun at arjvik@gmail.com for any questions regarding this code.