Introduction

This repository is in a very early stage of development. This README.md may not be appropriately updated to account for recent changes. Please update appropriately if you notice an issue

• This repository contains the code for version 2 of team 10785's IntoTheDeep robot.

Contents

• Currently, the only functioning code present in this repository enables robot-centric and field-centric driving
• Code enabling linear slide operation is currently in very early development

Future Additions

• Converting currently used LinearOpMode to OpMode
• PID drive
  • Determining position
  • Using position to make autonomous drivetrain path

Strafing Code

Introduction

• Initial code used is from: https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html

Initialization

NOTE: ALL MOTORS ARE KNOWN AS "GoBILDA 5202/3/4 series"

Robot Centric

Port	Device Type	Name in Config
0	Front Left Motor	frontLeft
1	Front Right Motor	frontRight
2	Back Left Motor	backLeft
3	Back Right Motor	backRight

Field Centric

Port	Device Type	Name in Config
0	Front Left Motor	frontLeft
1	Front Right Motor	frontRight
2	Back Left Motor	backLeft
3	Back Right Motor	backRight
N/A	Rev Internal IMU	imu

IMU is in I2C Bus 0

Controls

Robot Centric

Gamepad input	Output
left_stick_y	Forward-Backward
left_stick_x	Left-Right
right_stick_y	Unbound
right_stick_x	Rotation
dpad_up	Forward 30% power
dpad_down	Backward 30% power
dpad_left	Left 30% power
dpad_right	Right 30% power
left_trigger	Unbound
right_trigger	Unbound
left_bumper	Unbound
right_bumper	Unbound
x	Unbound
y	Unbound
b	Unbound
a	Unbound
back	Unbound
start	Unbound

Field Centric

Gamepad input	Output
left_stick_y	Forward-Backward
left_stick_x	Left-Right
right_stick_y	Unbound
right_stick_x	Rotation
dpad_up	Forward 30% power
dpad_down	Backward 30% power
dpad_left	Left 30% power
dpad_right	Right 30% power
left_trigger	Unbound
right_trigger	Unbound
left_bumper	Unbound
right_bumper	Unbound
x	Reset Orientation
y	Unbound
b	Unbound
a	Unbound
back	Unbound
start	Unbound

Telemetry

• Definition: Collection/measurement, transmission and display of data.
• Telemetry collects data from code or sensors and displays on FTC driver hub.
• Telemetry displays newest entries first.
• When initialized, telemetry set to have max amount of lines displayed.
• The number of lines each part of telemetry uses is recorded below. Ensure that number of lines generated does not exceed maximum set

Robot Centric Implementation

• Data from joysticks x2
• Data from dpad x1
• Current motor power x4

Field Centric Implementation

• Data from joysticks x2
• Data from dpad x1
• Current bot heading in IMU x1
• Current motor power x4

Features to be implemented

• Voltage sensor
• Runtime data
• Current draw

Strafing Info

Robot Centric

• Definition: In this system, the robot interprets all movement commands relative to its own orientation (local frame).
• The robot's "forward" direction is always aligned with its front.
• Driving in this mode is akin to driving a car.

Field Centric

• Definition: In this system, movement commands are interpreted relative to the field (global frame) rather than the robot’s orientation.
• Directions like "forward" are always relative to a fixed point on the field (e.g., North).
• Field is set upon initialization of Field Centric.
• Field can be reset using X on the gamepad.

Comparison

Aspect	Robot-Centric	Field-Centric
Reference Frame	Robot’s local orientation	Global (field) orientation
"Forward" Motion	Based on where the robot is facing	Fixed direction on the field
Ease of Control	Harder for drivers during rotations	Easier and more intuitive for drivers
Implementation	Simple; no external sensors required	Requires gyros/IMUs for orientation