bc-robotics-4504 / 2024-season

Robot code for the FRC 2024 Season. Written in Python3 for the MagicRobot framework.

2024-Season: Buckeye Regional

Robotpy Setup

BC Robotics (Team #4504) has designed their 2024 FIRST Robotics submission using Robotpy with the MagicBot Framework. To keep the relevant libraries current, the following code will need to be run regularly in a terminal interface:

python -m pip install --upgrade pip
python -m pip install robotpy wpilib
robotpy installer download-python
robotpy installer install-python
robotpy sync
robotpy installer download robotpy[all]
robotpy installer install robotpy[all]

Hardware Configuration

Swerve Drive

• SparkMax (8x):
  • Drives MK4i Swerve Module (4x)

Component	Type	ID/Details	Inverted	Gear Ratio	Wheel Diameter	Absolute Encoder	Z-Offset
Front Left Angle Motor	SparkMaxTurning	6	No	1	1	Yes	5.7535123
Front Left Speed Motor	SparkMaxDriving	5	No	1	0.1143
Rear Left Angle Motor	SparkMaxTurning	8	No	1	1	Yes	5.6867370
Rear Left Speed Motor	SparkMaxDriving	7	No	1	0.1143
Rear Right Angle Motor	SparkMaxTurning	2	No	1	1	Yes	5.5975077
Rear Right Speed Motor	SparkMaxDriving	1	No	1	0.1143
Front Right Angle Motor	SparkMaxTurning	4	No	1	1	Yes	0.0182671
Front Right Speed Motor	SparkMaxDriving	3	No	1	0.1143

Launcher

• SparkMax ():
  • Drives Neo 550 Brushless Motor

Component	Type	ID/Details	Inverted	Gear Ratio	Follower CAN ID
Launcher Spinner Left	SparkMaxDualSpinner	10	Yes
Launcher Spinner Right	SparkMaxDualSpinner	12	No
Intake Spinner Left	SparkMaxDualSpinner	14	Yes
Intake Spinner Right	SparkMaxDualSpinner	13	Yes
Intake Pivot	SparkMaxPivot	9	No	4	15

Climber

• SparkMax (2x):

Component	Type	ID/Details	Inverted
Climber Motor Left	SparkMaxClimb	16	No
Climber Motor Right	SparkMaxClimb	17	Yes

Robot IP Address

10.45.4.1

Vision

• Limelight 2.0:
  • Static IP address (Front) 10.4.45.11
  • Static IP address (Rear) 10.4.45.12

Component	Type	IP	Name
Limelight	Limelight	10.4.45.11	limelight
Limelight Front	Limelight	10.4.45.12	limelight-front

Robot Controls

GameSir G7 Wired Controller

• Input device ID 0
• Left Joystick (Lx, Ly): Controls the robot's movement in the field. The X-axis (Lx) translates to movement in the x-direction while the Y-axis translates to movement in the y-direction.
• Right Joystick (Rx): Controls the robot's rotation on the field. The X-axis (Rx) influences the angular velocity of the robot.
• Right Trigger (RT): Engages the launcher to shoot.
• Left Trigger (LT): Engages auto-alignment with the AprilTag. When pressed beyond a certain threshold(.35), it activates the alignment process for precise targeting.
• Y Button: Positions the intake to score in the amp.
• B Button: Deactivates the front camera, raises the intake.
• A Button: Activates the front camera and lowers the intake.

Autonomous Operation

Our autonomous plan is as follows...

1. Backup to shooting positon
2. Shoot preloaded game piece
3. Backup 2.75844 meters to exit community