Dent

The Hitchhikers 2015 robot

Features

Subsystems

• Mecanum drivetrain
• Collector to collect totes in main elevator
• Internal elevator for totes
• External elevator for containers or totes
• Pneumatics for opening/closing container elevator arms (unused)

Sensors

• Ultrasonic to check if a tote is in the robot (unused)
• hall effect sensors to check the elevator's position

Automated Commands

• AutoDrive to drive forward without a joystick
• CollectTote to drive forwards and roll in collectors in parallel
• ReleaseTote to drive backwards and roll out collectors in parallel
• Turn to turn the robot

Running the code

Setup (for Linux)

• Make sure you have the toolchain installed
• Edit the path of WPILib and the REMOTEIP on the Makefile
• Run make putkey to put the public key on the rrio for faster deploying (optional)

Building

• Run make && make deploy
• Run ssh admin@rrio-ip.local '/home/lvuser/FRCUserProgram' to execute the program

Usage

Left Joystick (USB 0)

• X-Axis - Drive forwards and backwards
• Y-Axis - Strafes left and right
• Z-Axis - Turns left and right
• Throttle - Adjusts collector speed
• Button 1 - Collect totes
• Button 2 - Eject totes
• Button 7 - Check robot

Right Joystick (USB 1)

• Button 3 - Lowers container elevator
• Button 4 - Lowers main elevator
• Button 5 - Raises container elevator
• Button 6 - Raises main elevator
• Button 7 - Opens container arms (unused)
• Button 8 - Closes container arms (unused)
• Button 12 - Cancel raising and lowering for both elevators

Dashboard

Configuration

• CodeVersion - The current version of the code
• Auto Wait Time - The amount of time to wait for any autonomous to run (default: 2.0)
• Two totes - Collect a second tote if using Auto Sequence 4 or 5 (default: true)
• Three totes - Collect a third tote if using Auto Sequence 4 or 5 (default: false)
• Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1)
• Auto Tote Distance - Amount of time in seconds to drive to a second or third tote if using Auto Sequence 4, 5, or 7 (default: 0.5)
• Auto Container Distance - Amount of time in seconds to drive to a container if using Auto Sequence 6 or 7 (default: 0.5)
• TurnAmount - Amount of time in seconds to turn the robot (default: 1.8)
• Container Elevator Bottom - Status of the bottom container elevator sensor (unused)
• Container Elevator Top - Status of the top container elevator sensor (unused)
• Elevator Bottom - Status of the bottom elevator sensor
• Elevator Top - Status of the top elevator sensor
• DriveSpeedReductionThresh - Maximum y value of the joystick when driving
• Auto Sequence - The sequence of autonomous to run

Autonomous

1. Drive to auto zone, turn
2. Lower ContainerElevator, collect container, turn, drive to AutoZone, turn
3. Raise ContainerElevator, turn, drive to AutoZone, turn
4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn
5. Same as auto 4, but navigate around containers (not implemented)
6. Collect 1 container then 1 tote (not implemented)
7. Collect 3 totes, collect container, drive to AutoZone (not implemented)