robot-code

This repository contains the code of team 41650A for the 2020-2021 VRC season.

The code used the code template from team 333A.

How to Use This Code

For Reading

The relevant code in this repository is organized by two types of files: #includeed c++ header files (.hpp) in the "include" folder, and their corresponding c++ source files (.cpp) in the "src" folder. All of the files not in the "include" or "src" folders are only used for compiling/downloading the code to the robot.

The autonomous run begins on line 64 of Auton.cpp, found on page 37 of robot-code.pdf.

For Use on a Robot

Dowload the files, then run prosv5 upload all with a v5 brain connected (you must have pros cli installed).

File Map

Crossed out files and directories were provided by pros.

bin

firmware

include

• display
• gui
  • DisplayControl.hpp
  • odomDebug.hpp
• movement
  • paths
    • ProfileStep.hpp
    • SimplePath.hpp
    • Trajectory.hpp
  • AsyncAction.hpp
  • Drivetrain.hpp
• okapi
• pros
• stateMachines
  • BallControlStateMachine.hpp
  • DrivetrainStateMachine.hpp
  • VStateMachine.hpp
• util
  • CustomOdometry.hpp
  • definitions.hpp
  • util.hpp
• api.h
• Auton.hpp
• main.h

src

• gui
  • DisplayControl.cpp
  • odomDebug.cpp
• movement
  • paths
    • ProfileStep.cpp
    • SimplePath.cpp
    • Trajectory.cpp
  • Drivetrain.cpp
• stateMachines
  • BallControlStateMachine.cpp
  • DrivetrainStateMachine.cpp
• util
  • CustomOdometry.cpp
  • util.cpp
• Auton.cpp
• definitions.cpp
• main.cpp

common.mk

compile_commands

Makefile

project