C Company (FRC Team 2377) 2020 Robot Code

This is the repository of C Company's 2020 Robot named Old-Bay-wan-Kenobi.

Controls and Button Mappings

Default Commands

• Drive is set to ArcadeMode
  • Left stick controls speed
  • Right stick controls direction
• Conveyor will collect Power Cells until it contains 5
  • When manipulator fires the cannon, the conveyor will run until it is empty and then return to default behavior.
  • If the driver picks up a Power Cell while the manipulator is firing, it will continue to run until the manipulator stops firing.

Driver

• Drive is set up as Arcade on an Xbox Controller
• Left Bumper: Retract Intake
• Right Bumper: Deploy Intake

Manipulator

• Left Trigger: Hold left trigger while moving right stick on the X axis to manually move the turret. When released, the turret will continue to auto align.
• Right Trigger: Fire cannon (if Limelight sees a target)
• Y: Toggle Control Panel Arm
• Left Bumper: Activate Stage 2 Control Panel Command
• Right Bumper: Activate Stage 3 Control Panel Command

Todo

• Add Climbing code
• Incorporate LEDs