Path To KitBot 
Advanced Control
Vision+Localization
Mechanism Types

Robot Code Basics

Learn about the structure and layout of a Robot codebase

Kitbot Minimum Goals

  • Open Loop Control
  • Teleop Control
  • Simple control states + Commands
  • Simple time-oriented sequences

Basic Motor Control

Get something moving and interact with a Rev motor controller

Creating a Differential Drive

Set up a Differential Drivetrain, typically used on Kitbots

Commands+Controllers

Learn how to change robot behaviours using a controller

Analog Drivetrain Control

Properly drive the robot with joysticks

Intro to Robot Mechanisms

Learn about the Kitbot and how it interacts with game pieces

Creating A Subsystem

Create and control a standard Kitbot mechanism

Telemetry

  • Reading robot inputs
  • Graphs
  • AdvantageScope?

Limelight 101

  • Target servoing
  • Localization

Path Following +LTV

Gyro Aiming

Vision Goals

  • Controlled Autos
  • Automated Alignment
  • Automated positioning

Sensing

  • Triggers
  • Encoders
  • Switches
  • Lasercan Distance
  • Lasercan Presence

Advanced Control

Determine control options

  • Model/Feedforwards?
  • Feedback
    • PID
    • Bang-Bang
    • State-oriented
  • Motion Profiles?

Managing System State

  • State = robot/mechanism configuration
  • Multi-system interactions
  • Subsystem initialization
  • Command Groups
  • State Machines?
  • Sequencing?

Advanced Control Goals

  • Sensor integration
  • Simple feed-forward modelling
  • Basic PID feedback controls
  • Basic motion profile
  • Simple State-oriented actions

Rollers

Shooters

Arms

Linear Motion Systems

  • Lifters/Elevators
  • Climbers

Field-Oreinted Drive

Swerve Concepts