GLaDOS Java
our java code for the 2024 season!
this year we are using a Swerve Drive Specialties MK4i drive base, with 8 Falcon 500 motors.
our base code is derived from this example swerve code
Our robot is designed to be a fast cycle, floor pickup, and speaker shooting bot. We are (planning) on using a 4 bar extension with 2 pairs of bars with 2 inch compliant wheels as our intake. The intake will directly feed to our launcher, which will have 2 pairs of wheels connected with a belt. The launcher itself will be variable angle, allowing us to be able to shoot from up close, and afar. We will have a camera on the front of the launcher to see the april tags on the speaker, and will use auto alignment to shoot.
| Color | Code | Name | Function |
|---|---|---|---|
| 🟪 Purple | D | Default | Default Mode. Intake in, no note, normal operation. |
| Intake Modes | |||
| 🟥 Red Blink | IO | Intake Out | Intake out and running, waiting for note pickup, reduced movemnt and rotation speed. |
| 🟥 Red | IL | Intake Loaded | Intake out with note in, ready to retract, slightly reduced movement speed. |
| 🟧 Orange | R | Ready | Intake in with note, searching for speaker april tags |
| Scoring Modes | |||
| 🟧 Orange Blink | R | Ready | Intake in with note, speaker april tags found, ready to lock |
| 🟨 Yellow | KP | Lock Pending | Locking on speaker, speed greatly reduced, no rotation control |
| 🟩 Green | K | Locked | locked, preparing to shoot. |
| 🟦 Blue | L | Launching | Cycling launcher |
| Endgame Modes | |||
| 🟨🟥 Yellow Red | CE | Climber Extending | Extending climber decreased speed |
| 🟨🟧 Yellow Orange | CR | Climber Ready | Climber ready to climb, greatly decreased speed |
| 🟨🟦 Yellow Blue | C | Climbing | Climbing chain, movement disabled |
| 🟨🟩 Yellow Green | C | Climber Locked | Climbing commplete, locked |