Ctrl-Z FRC Team 4096 - Robot Code 2023

The codebase for Siren-Z, the Ctrl-Z robot used in FRC 2023 Charged Up competition season.

Overview

The code is written in Python 3, using the robotpy libraries. It uses a coroutine version of command-based.

Layout

• /robot/robot.py - Boilerplate and subsystem initialization

• /robot/oi.py - Joystick button bindings

• /robot/const.py - Constants for swerve drive

• /robot/autoroutines.py - All autoroutines

• /robot/subsystems - Subsystems

• /robot/swerve - Python port of 364's Base Falcon Swerve

• /robot/limelight.py - Object oriented Python port of the Limelight Helper Lib

• /robot/wpilibextra - Extra functionality on top of wpilib. Includes coroutine commands implementation, decorator based xbox controller wrapper, PIDD2 controller (unused), Remote repl, and dynamic view only robot object creator (unused).

• robot/remote_shell_ds.py - Client side of the remote repl tool. More info/usage at https://github.com/TheTripleV/robotpy-remoterepl

• /rpi - LED code running on a Raspberry Pi. Deprecated. LED control was moved to rio.

• /vscodeextension - VSCode extension that live traces robot code execution and highlights all currently running commands and lines of code in vscode.

Questions?

Feel free to email us: contact@team4096.org

Ctrl-Z website