Purdue RI3D Project Base

This is a robot project base intended to be used for fast prototyping with many plug-and-play built-ins

Features

• Plug-and-play architecture
  • Pre-built components that can be easily combined into subsystems
  • Motor agnostic components for a combatability with different motor controlers
• Simulatable
  • The ability to run the robot in simulation with high enough accuracy to test complex commands and sequences
• Effective Logging
  • Utilizes DogLog to have subsystems cleanly log their own key values
• Unit Management
  • Usage of WPILib Units Library to easily and clearly store values in whatever desired units

Examples

• ExampleArm
  • Represents an end effector mounted to a rotating arm on an elevator
  • All motors are SparkMax
• ExampleClimber
  • Represents a simple linear climber (ex: Climber in a Box)
  • Powered by TalonFX motor
• ExampleIntake
  • Represents a simple 'flip down' intake with a beam break to detect game piece acquisition
  • Pivot is TalonFX while roller is SparkMax
• ExampleShooter
  • Represents a flywheel on adjustable pivot with a feeder to feed in game pieces and a beam break to detect when game piece is close to contacting flywheel
  • All motors are TalonFX

How It's Achieved

• Superstructure
  • Handles high level coordination between different subsystems and drivetrain
• Component Subsystem
  • Stores motor and sensor components within a subsystem and coordinates them from internal subsystem movements
• Component
  • Stores different types of IOs for easy utilization within a Component Subsystem
• MotorIO
  • Abstract class extended for all used motor controllers to allow higher level features to be motor agnostic
  • Every motor controller also has simulatable versions utilizing SimObjects
    • SimObjects are simulations of mechanisms usable my a MotorIO child for simple internal simulation
  • Stores everything in mechanism units (angle of last rotating component in system such as arm, flywheel, or pulley of elevator)
• DigitalIO
  • Abstract class extended for all different sensors that represent digital/boolean values to allow higher level features to be sensor agnostic
  • Can be easily simulated off a controller button using DigitalBooleanSupplierIO

Current State

NOT ALL FEATURES HAVE BEEN EXTENSIVELY TESTED YET. UNDISCOVERED BUGS MAY STILL EXIST.

• IOs
  • TalonFX -- Working in simulation and on real robot
  • TalonFXS -- Untested
  • SparkMax -- Working in simulation
  • SparkFlex -- Untested
  • DigitalInIO -- Untested
  • DigitalBooleanSupplierIO -- Working in simulation
• Components
  • MotorComponent -- Working in simulation and on real robot
  • ServoMotorComponent -- Working in simulation and on real robot
  • HomingServoMotorComponent -- Working in simulation
  • FlywheelMotorComponent -- Working in simulation and on real robot
  • DigitalIOComponent -- Working in simulation