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Autonomous

Autonomous programming is a critical aspect of FRC robots, as it covers the first 15 seconds of the match where the robot operates without human intervention. During this period, the robot must perform a series of pre-programmed actions to score points, navigate the field, and interact with game pieces. Effective autonomous routines can provide a significant advantage in matches, as they allow the robot to maximize the points scored during this crucial phase where activity scores are higher.

Presentation

Excercises

Accuracy and Precision​

  • Create a way to turn to a specific heading
  • Create a way to drive straight a specific distance
  • Create dynamic commands for these actions
    • driveDistance(double distance)
    • turnToAngle(Rotation2d angle)

Command Sequences​

  • Create an Auto that does the following: (Left Auto)
    • Drive forward 5 meters (0 Heading)
    • Turn 45 degrees
    • Drive forward 2 meters (45 Heading)
    • Shoot
  • Create an Auto that does the following: (Right Auto)
    • Drive forward 5 meters (0 Heading)
    • Turn -45 degrees
    • Drive forward 2 meters (-45 Heading)
    • Shoot

Auto Manager​

  • Add both Autos to the Sendable Chooser
  • Test both Autos in Simulation
    • Test on robot if everything looks correct

Related Documentation

Software Tools​

  • Choreo: Tool for creating and testing autonomous trajectories.
  • Elastic: Tool for logging and visualizing robot data.

Software​

  • Autonomous: Overview of autonomous programming in FRC robots.