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2024 Crescendo: Competition Code

Please revise the title, and replace the contents below with your competition or test code documentation when you start a new project by copying this Template. Below is the documentation of this project, not the robot code you create using this template.

A05Annex Project Template for 2024 Crescendo

  • version: 0.0.32
  • status: first used for FRC 2023 Charged Up, updated for 2024 Crescendo
  • comments: This is the starting point for a swerve drive robot built on the a05annexRobot Swerve Drive with NavX and PhotonVision robot code base.

This is a project template for a swerve drive robot built on a05annexRobot library, which provides:

  • The Swerve Drive subsystem with a driver-tunable drive command;
  • A wrapper for the NavX which is integrated with the Drive subsystem for things like maintaining robot heading while translating, simultaneous rotation to face downfield/upfield while driving, and calibration for rotational drift of the NavX;
  • Autonomous path selection and use of paths generated using the SwervePathPlanner;
  • and PhotonVision support - though performance is currently suboptimal.