RomiExamplePlus-2024

Extension of the RomiReference example in WPILib to pull in additional features from other examples into a single program.

(Converted to WPILib 2024 Beta)

Additional Features Include

• Ability to select arcade drive, tank drive or curvature drive (with or without zero turning)
• Moving deadband and squaring out of drivetrain and onto joystick inputs only
• Data logging
• Publishing test points for display on dashboards
• Creating odometry and field attributes
• Allow startup of driver station
• Trigger new commands from the controller
• More Autonomous Commands
• Show examples of setting parameters at runtime using SmartDashboard.getNumber, Network Table getEntry and preferences. These are enabled through flags in the Constants file.

Controller Triggered Commands

• X: Turn to 90 degrees
• B: Turn to -90 degrees
• A: Reset odometry to field start position
• Right Bumper: drive at half speed
• Left Bumper: stabilize heading to drive straight (not yet working)

Autonomous Commands

• Drive a box pattern
• Turn to 0 degrees using PID control from the gyro (controller tuned via SmartDashboard.getNumber)
• Drive a specified distance using PID control (controller tuned via Network Table getEntry)
• Drive a specified distance using profiled PID control (controller tuned via preferences)
• Follow a trajectory with a Ramsete controller following a path generated from a list of points
• Follow a trajectory with a Ramsete controller following a path generated from PathWeaver