Code · 2024 · CRESCENDO
2024 Robot Code (Eclipse)
Code for Eclipse, our 2024 Crescendo robot, which won the Excellence in Engineering Award at the Los Angeles Regional. It shoots game pieces into the speaker, and a four-bar and climber handle the rest.
What’s in it
1661-RobotCode-2024
- Swerve drivetrain on CTRE Phoenix 6 with Tuner X generated constants
- Shooter, intake, four-bar and climber subsystems, including an assisted far shot
- Vision subsystem and Limelight helpers
- PathPlanner autos built from named command pieces, with an autonomous mode selector
- SysId commands for characterizing the four-bar
Tech at a glance
- Language
- Java 17
- Framework
- WPILib 2024 (command-based)
- Vendor libraries
- Phoenix 5 and 6, PathPlanner, REVLib, SDS swerve library
Try it
Quick start
Build
./gradlew buildSimulate
./gradlew simulateJavaDeploy to a roboRIO
./gradlew deployFull instructions are in the README on GitHub.
This code is released under the MIT License, so you are welcome to learn from it and reuse it.
Want to join?
If you go to Buckley, come by the robotics room after school. We’ll find something for you to work on.