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VEX-Change-Up

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Crazy messy codebase for our VEX Change Up season X-drive. Some code is derived from OkapiLib (odometry and drive templates), WPILib (PID, geometry classes in particular), & theol0403's odomDebug.

Features include:

  • 3-wheel odometry for a holonomic drivetrain (x-drive was used)
  • Experimental pure pursuit pathing (holonomic-only)
  • Motion profiling (trapezoidal profile)
  • Pose-to-pose strafing with a motion-profiled PID controller
  • Speedy spline trajectory planner adapted from FRC codebase
  • Simple unit testing with OkapiLib (CI script here)

Not many people are going to see this or even use this code, but hopefully if you do, please excuse the messiness and lack of comments 😅.

Notes:

  • The OkapiLib OdomState uses the following conventions:
    • +x is forward
    • +y is to the right
    • +θ is clockwise
  • The custom chassis controllers (eg. XOdomController) use the following conventions:
    • Cartesian coordinates (+x is to the right, +y is upwards)
    • +θ is counter-clockwise
  • Assuming a Pose2d is fed in, follow the chassis controller conventions.