The codebase for Siren-Z, the Ctrl-Z robot used in FRC 2023 Charged Up competition season.
The code is written in Python 3, using the robotpy libraries. It uses a coroutine version of command-based.
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/robot/robot.py- Boilerplate and subsystem initialization -
/robot/oi.py- Joystick button bindings -
/robot/const.py- Constants for swerve drive -
/robot/autoroutines.py- All autoroutines -
/robot/subsystems- Subsystems -
/robot/swerve- Python port of 364's Base Falcon Swerve -
/robot/limelight.py- Object oriented Python port of the Limelight Helper Lib -
/robot/wpilibextra- Extra functionality on top of wpilib. Includes coroutine commands implementation, decorator based xbox controller wrapper, PIDD2 controller (unused), Remote repl, and dynamic view only robot object creator (unused). -
robot/remote_shell_ds.py- Client side of the remote repl tool. More info/usage at https://github.com/TheTripleV/robotpy-remoterepl -
/rpi- LED code running on a Raspberry Pi. Deprecated. LED control was moved to rio. -
/vscodeextension- VSCode extension that live traces robot code execution and highlights all currently running commands and lines of code in vscode.
Feel free to email us: contact@team4096.org