Source code for the PARTs 2024 robot.
We are using the WPILib 2024.2.1 Release.
We are coding in the Java programming language with the OpenJDK that WPILib comes bundled with.
The drivetrain uses four CANSparkMaxes in a Leader-Follower configuration like tank drive.
The arm is 1DoF with a singular pivot point at the base of the robot.
The arm is powered via two CANSparkMaxes configured with a 64:1 gearbox.
The intake is a configuration of rollers connected via two conveyor belts on each side.
They are powered by one Talon SRX.
The shooter is a configuration of much larger rollers designed to shoot out the notes at high speeds.
It is powered by two Talon SRXs.