frc3268 / valhallalib

not quite ready yet

ValhallaLib

library for robot code created by frc team 3268

Features swerve-drive code, camera code, autonomous code & dashboard code
More features to come, including but not limited to: more dashboard code, more odometry integrations, and documentation

This library tries to abide by the following "ideals":

Naming:

• Subsystems: End with "Subsystem"
• Commands: End with "Command"
• Constants: UPPERCASE_WITH_UNDERSCORES
• Methods/Functions: startWithLowerCaseThenCamelCase
• Classes: CamelCase

Structure:

• Lib: All the library (ie non wpilib) things go here
• Robot: everything else goes here

Generally:

• Keep it simple
• Don't appeal to boilerplate if you don't have to
• Allow extensibility

Usage:

1. Clone/fork the repo
2. Change constants to match your robot
3. Enjoy

Thanks to frc team 6814 for creating an excellent series on frc programming(0 to Autonomous). Their code in episode 6 served as the basis for much of the swerve-drive code in this library

valhallalib's Issues

Finish PID Tuner

PID tuner needs an additional algorithm for flywheels and a UI in shuffleboard.

add amp and source auto commands

robot needs to be able to go to amp and source. follow example in autos.kt

        fun goToSpeaker(drive:SwerveDriveBase):Command{
            val color = DriverStation.getAlliance()
            //todo: fix x
            var to = Pose2d(1.0, 5.547868, 0.0.rotation2dFromDeg())
            color?.ifPresent { color ->
                if (color == DriverStation.Alliance.Red) {
                    to = Pose2d(15.579342, 5.547868, 180.0.rotation2dFromDeg())
                }
            }
            return TrajectoryOrchestrator.beelineCommand(
                drive,
                to
            )

        }

https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf (positions of amp and source given here)

Get Swerve Drive Working

Assigned to EVERYONE
Swerve currently acts all weird. Leads on the issue include inaccurate reporting of encoders measurements, controller issues, etc. This is a team effort until I can break it down into smaller problems

Implement AdvantageKit - Climbers

Implement Advantagekit - Shooter

Organize Branches

Activerobot branch has some things for main, should get integrated. Additionally, main should be protected.

Implement AdvantageKit - Swerve

Finish Trajectory Orchestrator

Trajectory Orchestrator should to be built out to the point that the robot should be able to follow a path

Verify that the camera works

Every function of the Camera(Apriltags, reflective target) needs to be tested and confirmed to be working.
If something is broken, it should be fixed(duh)
This is a stepping stone to a camera robot follow task

Finish Auto Orchestrator

Auto Orchestrator needs a UI in shuffleboard and polish around the edges. It should get its own tab.

Document code

Code for swerve should be documented(doccomments for each[important] function)

Get Dashboard working

Dashboard should work as intended - PID control, setpoint, camera integration
Immediate needs are making PID constants editable

Implement Advantagekit - Intake