Botbusters 2019 Robot Code

Features

• Modular
  • Most of the code is broken down into libraries which can be utilized in other projects or in other simulations of the robot.
  • This allows us to test our libraries in a simulated, controlled enviorment.
• Unit tests
  • Some of the main robot code is unit tested in order to ensure the code works before it is deployed.
  • Most of the library code is unit tested.
• Simulation Support
  • When ran on a PC, information about the commands sent to the motor controllers are sent over NT.
• Command-based autonomous; TimedRobot teleoperated
• Systems
  • EctoSwerve
    • Supports field-oriented drive.
  • EctoMotor
    • Implements a common api for both Talon SRX and Spark MAX, this way, a single api can be used for both motor controllers.
  • EctoSettings
    • Commonly modified parameters are stored in an .ini file so they can be modified without re-compiling the robot code.
  • EctoInput
    • Inputs are handled in a separate thread.
  • Generic base mechanism classes for common mechanisms.
    • Base elevator class
    • Base articulated class
• Multi-threaded
  • Some tasks run in separate threads in order to have a faster loop time.
• Libraries
  • EctoControl
    • EctoPID: Custom PID implementation
    • EctoSMC
    • MotionProfiles: Trapezoidal motion profiles
    • Kinematics
      • Swerve Inverse / Forward Kinematics
      • Tank Inverse / Forward Kinematics
    • Odometry
      • Non-linear odometry
      • Linear odometry
    • Paths
      • Pure pursuit path planner for holonomic drivetrains
      • Support for parsing PathWeaver paths
  • EctoMath
    • Data types and other math-related functions.
    • Also defines functions for creating quintic spline paths.
  • EctoModule
    • Defines the Module structure used in our robot code.
    • Module: base class, gives each module it's own config file and logger.
      • Manager: defines a singleton module which can be used to manage devices in the robot code.
      • System: defines the base class used for most mechanisims, contains an update loop which is ran periodically when the robot is enabled and an init function which runs once.
      • SystemManager: Runs systems. Also times each system in order to identify if a system is running slower than it should be.
  • EctoSettings
    • Parses .ini files