2020bot

This is the source code for the ESHS Potatoes' 2020 FRC Infinite Recharge robot.

Subsystem breakdown

Drive subsystem

Swerve drive

• Motors:
  • 4x Neo
  • 4x Neo 550
• Controllers:
  • 8x Spark Max
• Sensors:
  • Gyro
  • Accelerometer

Climbing subsystem

• Motors: 2x Andymark gear motors
• Controllers: 2x standard Spark
• Other:
  • 2x tape measure belts with hooks at the end

"Wheel of Fortune" subsystem

• Motors: 1x Neo 550
• Controllers: 1x Spark Max
• Other:
  • Pliant wheel
  • Pneumatics (to raise and lower the wheel)
  • Color sensor (to control the wheel's final color)

Intake subsystem

• Motors: 1x Neo 550
• Controllers: 1x Spark Max
• Other:
  • Pneumatics (to raise and lower the entire intake chamber)
  • Uses right-handed Mecanum wheels, left-handed Mecanum wheels, and Omniwheels in the center to direct the power cells.

Belt subsystem

• Motors: 2x Mini-CIM
• Controllers: 2x standard Spark
• Sensors: ??? (for ball detection)
• Other:
  • Smooth belts
  • Pneumatic indexer, to temporarily stop the balls from entering the shooter (this allows shot separation)

Shooting subsystem

• Motors: 2x Neo
• Controller: 2x Spark Max
• Other:
  • 2x flywheels (oriented vertically)
  • 1x Vision camera (preferably Limelight)

Total

• Motors: 16 (6 Neo, 6 Neo 550, 2 Mini-CIM, 2 Andymark gear)
• Motor controllers: 16 (12 Spark Max, 4 standard Spark)