2024 Robot Code - FRC Crescendo

Features:

Fully AdvantageKit Replay compatible, with notable AdvantageKit implementations such as:

• AprilTag vision with PhotonVision
• Neural network game piece detection with Limelight
• High-Frequency odometry with Phoenix v6

Full desktop simulation capability for the following:

• Drivetrain with CTRE sim API
• AprilTag vision with PhotonVision sim API
• Feeder rollers
• Shooter flywheels
• Double-jointed arm
• Intake sim with game piece pickup mocking

Other notable features:

• Cantilevered Double-Jointed Arm implementation
• Choreo Autonoumous routines using game piece detection + april tag localization for correction
• Extensive use of WPILIB's Command Based library
• CTRE CANDle-based LEDs implementation
• Use of MotionMagic & MotionMagicVelocity for motion profiling
• Both AdvantageScope 3D and Mechanism2d implementation of double-jointed Arm visualization
• AdvantageScope game piece visualization
• SysId routines for the drivetrain, shooter, and arm
• Code written to be switchable for two robots, with multiple vendor implementations for certain subsystems, e.g. Phoenix v6 or REVLib
• Driver Convenience Features (eg. Auto Drive to Chain & Auto Aim to Speaker)

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Thanks to 6328, for making AdvantageKit/Scope and inspiring many parts of this codebase