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VC Silver Circuits 16158 - 2025-2026 DECODE FTC Robot Code

NOTE

This repository is public for transparency only. This is our team's competition robot code. It is not intended as a general-purpose template or starter project for other teams. Feel free to learn from it, but it is written specifically for our robot's hardware configuration and may not work for yours.

FTC robot controller code for VC Silver Circuits (Team 16158) for the 2025-2026 season. Built on the standard FTC SDK with PedroPathing for autonomous path following.

Website: https://vcsilvercircuits.com Robot Info: https://vcsilvercircuits.com/decode-robot Questions: programming@vcsilvercircuits.com

Table of Contents

Overview

The robot is a mecanum drive platform equipped with:

  • A flywheel shooter that adjusts RPM and hood angle automatically based on distance to the target
  • A rotating turret that aims at the goal using odometry or Limelight 3A visual tracking
  • Three flipper servos that push game pieces (green/purple) into the shooter
  • An intake roller motor
  • Color sensors on each flipper to identify which game piece is in each slot
  • A Limelight 3A camera for AprilTag-based turret targeting and motif pattern detection
  • A GoBilda Pinpoint odometry pod for field-relative localization

Project Structure

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/
├── OpModes/
│   ├── Autos/
│   │   ├── CloseBlueAuto.java       # Blue alliance close-side auto
│   │   ├── CloseRedAuto.java        # Red alliance close-side auto
│   │   ├── FarAutoBlue.java         # Blue alliance far-side auto
│   │   └── FarAutoRed.java          # Red alliance far-side auto
│   ├── TeleOps/
│   │   ├── BlueTele.java            # Main Blue alliance teleop
│   │   ├── RedTele.java             # Main Red alliance teleop
│   │   ├── OldBlueTele.java         # Legacy Blue teleop
│   │   ├── OldRedTele.java          # Legacy Red teleop
│   │   └── ScrimBotTelop.java       # Scrimmage teleop
│   ├── TestingAutos/
│   │   └── MotifScannerAuto.java    # Auto that scans and stores the motif pattern
│   └── TestingTeleOps/
│       ├── MotifShooterTeleOp.java  # Teleop for testing motif-based sorting
│       ├── UrsaTestTele.java        # General hardware testing teleop
│       └── MegaTagTesting.java      # Limelight MegaTag testing
├── Subsystems/
│   ├── AprilTagControllers/
│   │   ├── AprilTagTurretControllerBlue.java
│   │   └── AprilTagTurretControllerRed.java
│   ├── ColorSensorTests/
│   │   └── ColorSensors.java        # Reads 3 color sensors, classifies green/purple
│   ├── FlywheelConstants/
│   │   ├── AutoFlywheelConstants.java
│   │   ├── BlueTeleFlywheelConstants.java
│   │   └── TeleFlywheelConstants.java
│   ├── Motif/
│   │   ├── MatchMotif.java          # Shared static state for the detected motif pattern
│   │   ├── MotifDetector.java       # Reads Limelight AprilTags to detect motif
│   │   └── ServoGroup.java          # Sequences flipper servos (sorted or non-sorted)
│   ├── DcMotorGroup.java
│   ├── DualMotor.java
│   ├── OdoAim.java                  # Red alliance turret aiming (odo + Limelight)
│   ├── OdoAimBlue.java              # Blue alliance turret aiming (odo + Limelight)
│   └── PoseStorage.java             # Persists robot pose and turret angle from auto to teleop
└── pedroPathing/
    ├── AutoConstants.java           # PedroPathing config for autonomous
    ├── Constants.java               # PedroPathing config for teleop
    └── Tuning.java                  # Path tuning OpMode

Hardware Map

All hardware names must match exactly in the Driver Hub configuration.

Motors

Config Name Hub Port Purpose Notes
frontLeft Control Hub 3 Drive - front left FORWARD direction
frontRight Expansion Hub 0 Drive - front right REVERSE direction
backLeft Control Hub 2 Drive - rear left FORWARD direction
backRight Expansion Hub 1 Drive - rear right REVERSE direction
turretRotation Control Hub 0 Turret yaw motor REVERSE direction, no encoder mode
Output1 Expansion Hub 2 Flywheel - left REVERSE direction
Output2 Expansion Hub 3 Flywheel - right
intake Control Hub 1 Intake roller BRAKE on zero power

Servos

Config Name Hub Port Purpose Default Position
frontFlipper Servo Hub 1 Pushes game piece from front slot into shooter 0.05 (down)
backFlipper Servo Hub 5 Pushes game piece from back slot into shooter 0.05 (down)
leftFlipper Servo Hub 2 Pushes game piece from left slot into shooter 0.05 (down)
stopper Servo Hub 4 Gates game pieces before the flywheels 0 (open)
Hood Expansion Hub 0 Adjusts flywheel angle Auto-calculated
lift1 Servo Hub 3 Endgame lift - servo 1 0.9 (down)
lift2 Servo Hub 0 Endgame lift - servo 2 0.92 (down)

Sensors

Config Name Hub Port / Bus Purpose
pinpoint Control Hub I2C bus 2 GoBilda Pinpoint odometry pod
limelight Ethernet 172.29.0.1 Limelight 3A (turret aiming + motif)
sensorF1 Expansion Hub I2C bus 0 Color sensor - front flipper slot
sensorF2 Expansion Hub I2C bus 1 Color sensor - front flipper slot (2)
sensorB1 Expansion Hub I2C bus 3 Color sensor - back flipper slot
sensorB2 Expansion Hub I2C bus 2 Color sensor - back flipper slot (2)
sensorLL Control Hub I2C bus 3 Color sensor - left flipper slot
sensorLR Control Hub I2C bus 1 Color sensor - right flipper slot
imu Control Hub I2C bus 0 Built-in IMU (BHI260AP)

OpModes

Teleop

Name Alliance Description
Blue Tele Blue Main match teleop, imports pose from auto
Red Tele Red Main match teleop, imports pose from auto
ScrimBotTelop Either Simplified teleop used for scrimmages

Autonomous

Name Alliance Start Position Description
Blue Auto Shoot Blue Close side Shoots preload + 3 intake cycles
Red Auto Shoot Red Close side Mirrored version of Blue close auto
Far Auto Blue Blue Far side Far-side starting position auto
Far Auto Red Red Far side Far-side starting position auto

Testing / Tuning

Name Description
MotifScannerAuto Scans backdrop AprilTags and stores the motif pattern
MotifShooterTeleOp Tests motif-sorted flipper firing sequence
UrsaTestTele General hardware/subsystem testing
MegaTagTesting Tests Limelight MegaTag localization

Subsystems

OdoAim / OdoAimBlue

Turret aiming controller that keeps the flywheel pointed at the goal.

  • Reads robot pose from PedroPathing's odometry follower
  • Computes the field-relative angle from the robot to the target goal pose
  • Converts to a robot-relative heading and drives the turret via a PIDF controller
  • Falls back to Limelight 3A visual tracking when a valid target is in frame
  • Supports a manual offset (D-pad left/right) to nudge the aim without disabling tracking
  • Hard limits: -90 deg to +175 deg turret rotation

Target poses (field coordinates, inches):

  • Red goal: (152, 146)
  • Blue goal: (-3, 140)

BlueTeleFlywheelConstants / TeleFlywheelConstants

Distance-based flywheel controller. Each update cycle it:

  1. Computes the Euclidean distance from the robot to the target goal
  2. Uses a linear regression to calculate the optimal RPM and hood angle for that distance
  3. Applies a forward-velocity compensation term to account for robot movement while shooting
  4. Drives both flywheel motors and the hood servo

Regression constants (Blue):

  • RPM = 21.35 * distance + 2634.3
  • Hood angle (deg) = -0.851 * distance + 139.1

ServoGroup

Manages the sequential firing of the three flipper servos.

  • StartNonSort() — fires servos in fixed order: front → back → left. Used in most match scenarios.
  • startMotif() — fires servos in the order dictated by the detected motif pattern, matching the right colored piece to the right slot. Requires MatchMotif to be set and ColorSensors to have latched colors.
  • Each servo is raised for 275 ms then lowered with a 275 ms delay between servos.
  • The stopper servo gates the output channel during the sequence.

MatchMotif

Static shared state that stores the motif pattern detected during autonomous (GPP, PGP, or PPG — combinations of Green and Purple game pieces). Teleop reads this to fire the correct flipper first.

MotifDetector

Uses the Limelight 3A to detect AprilTags during autonomous:

AprilTag ID Pattern
21 GPP (Green, Purple, Purple)
22 PGP (Purple, Green, Purple)
23 PPG (Purple, Purple, Green)

ColorSensors

Three NormalizedColorSensor instances that classify each flipper slot as GREEN, PURPLE, or UNKNOWN based on normalized R/G/B ratios. Values are latched on first detection and only reset manually.

PoseStorage

Simple static class that persists two values across OpMode transitions (auto → teleop):

  • currentPose — robot field pose at end of auto
  • turretRadians — turret angular position at end of auto

Teleop Controls

Gamepad 1 (Driver)

Input Action
Left stick Drive (field-relative)
Right stick X Rotate (50% speed)
Left bumper Toggle turret auto-tracking on/off
D-pad left Nudge turret aim target -3 inches in X
D-pad right Nudge turret aim target +3 inches in X
D-pad down Recalibrate turret and flywheel target positions
Left trigger Toggle intake on/off
Right trigger Run intake reverse (backspin)
Y button Fire all three flippers (non-sorted, sequential)
B button Manually flip front flipper up
A button Manually flip back flipper up
X button Manually flip left flipper up

Gamepad 2 (Operator)

Input Action
D-pad up Toggle lift up/down

Autonomous Sequences

Close Blue Auto (CloseBlueAuto)

Starting pose: Right side of the field (flipped from Red coordinates), heading ~143 degrees.

Sequence:

  1. State 0 — Drive to shooting position, spin flywheels to 3650 RPM, run intake in
  2. States 1-4 — Wait to reach shooting pose, fire flippers sequentially (front → back → left) using AprilTag turret tracking
  3. States 5-9 — Drive to first intake position, intake game pieces, return and shoot again
  4. States 10-15 — Drive to second intake position, intake, return and shoot
  5. States 16-21 — Drive to third intake position, intake, return and shoot
  6. State 22 — Hold at shooting pose until end of match, save final pose to PoseStorage

The turret runs AprilTag tracking only during shooting states (2, 3, 4).

Red Auto

Mirrors the Blue auto using coordinate flipping (flipX / flipHeading helpers that reflect poses across the center line of the 144" × 144" field).

Tuning Parameters

PedroPathing (Constants.java / AutoConstants.java)

Parameter Value Description
forwardZeroPowerAcceleration -42.19 Deceleration tuning for forward motion
lateralZeroPowerAcceleration -209.03 Deceleration tuning for lateral motion
xVelocity 74.09 Max forward velocity (in/s)
yVelocity 56.58 Max lateral velocity (in/s)
forwardPodY 2.5 in Pinpoint forward pod offset
strafePodX 7.0 in Pinpoint strafe pod offset

Turret PIDF (OdoAim.java)

Controller P I D F
Odometry PIDF 2.4 0.0 0.008 0.2
Limelight PIDF 0.06 0.0 0.008 0.0

RADIANSPERTICK = 0.001062 — converts motor encoder ticks to turret radians.

Flywheel PIDF (BlueTeleFlywheelConstants.java)

P I D F
0.0085 0.007 0.00002 0.0004

Autonomous Flywheel RPM

Auto RPM
Close autos 3650
Final hold state 3800

Setup

  1. Clone the repo into Android Studio.
  2. Connect to the Robot Controller via USB or Wi-Fi.
  3. Verify all hardware config names match the Hardware Map table above.
  4. Run Tuning OpMode to verify PedroPathing constants for the current robot.
  5. Run MotifScannerAuto in pre-match to detect and store the motif pattern before running teleop.
  6. For competition matches, run the appropriate auto first, then select the matching alliance teleop — pose is automatically transferred via PoseStorage.

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