Code to run the Competition Robot to play the 2023 First FRC game, Charged Up.
Features:
- Swerve drive
- field oriented and robot oriented control depending on the task
- two-section articulated arms to extend an end effector
- pneumatically activated claw to grasp game pieces
- variable pressure for cones and cubes
- rollers to assist intake and expulsion
- Pixy cam to locate game pieces and aid indriving toward them
- USB camera with a Raspberry Pi to detect april tags