MAGIS FTC Team Repository

This repository is a FORK of the public FTC SDK for the INTO THE DEEP (2024-2025) competition season written by Rokas Kirdulis.

Overview

• The teamcode folder contains the main command-based control system for the robot.
• This folder includes custom classes and methods designed specifically to support autonomous and teleoperated (teleop) modes for our team's robot.
• Code is structured to enhance modularity, making it easy to test individual components and integrate new features throughout the season.

Key Components

Subsystems

The teamcode directory is organized around the command-based model, with specific subsystems( or managers as I call them) for each part of the robot:

• Drivetrain - Manages all drive motors and movement algorithms, including odometry and trajectory following.
• Intake - Controls the robot's intake system, with positional controls for TiltServo, PitchServo, ClawServo and YawServo. Used for picking up game elements.
• Outtake - Manages the opening and closing of the DepositorClawServo, as well as positional controls for the PitchServo, YawServo and TiltServo.
• ~~Ascent - Used for control of the LegMotor and variuos Ascent sequances. ~~

Autonomous and Teleop Modes

• Autonomous: Pre-defined routines to perform tasks at the start of the game utilizing motion planning.
• Teleop: Driver-controlled routines that provide manual and assisted control over the robot.

State Machine

Our robot uses a State Machine design pattern to organize and manage various states and transitions that occur during the competition. The state machine makes it easy to control and update the robot’s behavior in both autonomous and teleoperated modes, ensuring smooth transitions between tasks.

Key Concepts

• States: Each state represents a distinct behavior or action that the robot performs (e.g., driving, lifting the arm, grabbing objects).
• Transitions: The state machine allows for the robot to transition from one state to another based on specific conditions, such as sensor inputs or time.
• State Management: The state machine runs continuously, checking conditions to decide when to enter, execute, or exit states.

Additional Resources

• README files within each subsystem folder for in-depth descriptions of classes and methods will be created soon.
• Code comments throughout to assist with debugging, testing, and modifications by new team members or collaborators.

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Our team wishes You happy coding and best of luck for the INTO THE DEEP season!