This is a complete recoding of Rafael for the 2020 WPILib.
The drivetrain implementation differs from the original in a few ways (for simplicity):
- It will not turnoff one of the motors when in high gear
- The only encoders supported are the greyhills
Notable subsystems that are missing are:
- Blender
- Shooter
- Winch
- Gear pushcer and trapper
Many of the commands are greatly simplified or just missing all together. This is because this is not made to replace the Alfred code, but be a base line for exending in the future.
Due to the complexity of the Elevator, it is not currently stable code, but it is there if necessary (tilting is important)
- Drivetrain
- Moves the robot
- Tank Drive
- Arcade Drive
- Drivetrain Drive Command
- Filtered movement
- Instant commands (inline commands, present in RobotContainer)
- Gear Switching