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Library for FRC Team 6560 containing hardware API wrappers, swerve, limelight, odometry, and generic subsystem/command templates

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ChargerLib

ChargerLib is a Java-based FRC library. Its goal is to provide a well-structured codebase for every aspect of robot functionality that does not directly depend on the game rules in a given season.

The library contains the following functionality:

  • Wrapper classes for hardware such as motors, sensors etc. that allow for generalized hardware usage without requiring junior members to understand vendor-specific hardware APIs

  • A generic roller subsystem that can be subclassed for any intake, transfer, or flywheel-like mechanism, including those involving multiple motors and/or a digital sensor, along with a command for controlling it

  • A generic swerve drivetrain based on the SDS library that can be configured with varying chassis parameters, along with a generic drive command for controlling it and utility classes that allow for intuitive drivetrain configuration and offset calibration

  • A generic controller configuration which provides driving controls and gyro/odometry reset buttons and can be subclassed for additional user inputs

  • (TODO) Commands for quickly testing and modifying PID profiles without having to reupload code after every modification

  • (TODO) Generic classes for limelights and robot odometry

Todo

questions:

  • is maxVoltage global or just drivetrain?
  • TalonFX.setPosition(pos) vs TalonFX.getPIDController().setReference(pos, ControlType.kPosition);

todo:

  • motion magic + physics-based PID for talonfx
  • setPosition based on PID - check
  • add reverseJoystick parameter for controls config
  • add interpolatable AimTrajectory table
  • add limelight class

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Library for FRC Team 6560 containing hardware API wrappers, swerve, limelight, odometry, and generic subsystem/command templates

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