C2023

---

Code for Team 1678's 2023 robot, Tangerine Tumbler.

Highlights

• Field-Relative Swerve Drive
• 3 Game Piece Autonomous Modes
• Gyro-Based Autonomous Dock and Engage
• Sequenced State Transitions for Scoring
• Fork Climb

Major Package Functions

• com.team1678.frc2023

  Contains central robot functions specific to Tangerine Tumbler. Robot control originates from the Robot class.

• com.team1678.frc2023.auto

  Handles generation, selection, and execution of autonomous routines.

• com.team1678.frc2023.auto.actions

  Contains all actions used during autonomous. All actions must implement the Action interface.

• com.team1678.frc2023.auto.modes

  Contains all autonomous modes. Modes are named according to starting location (CC for cable chain side, middle for center, nothing for flat side), number of game pieces scored (One/Two/Three), and if it engages.

• com.team1678.frc2023.controlboard

  Handles polling driver and operator inputs from two Xbox Controllers.

• com.team1678.frc2023.loops

  Contains code for loops, which are run periodically to update Subsystems. Loops are managed and run by Loopers. The Robot class contains three loops: one for enabled operation, one for IO while disabled, and one for CSV logging.

• com.team1678.frc2023.shuffleboard

  Contains layouts for reporting telemetry to the Shuffleboard. Entries are organized into Tabs, which extend the ShuffleboardTabBase.

• com.team1678.frc2023.states

  Contains one class, SuperstructureGoal, which holds preset setpoints for the arm, elevator, and wrist.

• com.team1678.frc2023.subsystems

  Contains code for subsystems, with one singleton implementation per subsystem. Subsystems extend the Subsystem abstract class. Each subsystem's logic is contained in an enabled loop, a read periodic inputs method, and a write periodic outputs method, which are called by the SubsystemManager class.

• com.team1678.lib.logger

  Contains code for logging fields tagged by the Log annotation to CSV files.