2025 Robosharks Robot Code

Setup

1. Clone the Repository:

   git clone https://github.com/Team1157/2025_Ranger_rio/
   cd 2025_Ranger_rio/

2. Install Dependencies:

   • Ensure you have the latest version of WPILib installed, it comes with Elastic Dashboard
   • If running the real robot install NI game tools (message me for the licensing)

3. Deploy Code (Real robot only):

   • Connect your robot to your development machine.
   • Use your IDE (VSCode with WPILib plugin is what I use and you should too) to build and deploy the code to the robot controller.
   • OR while in the directory run ./gradlew deploy (linux/macos) gradlew.bat deploy (windows)

4. Run Simulation (Optional):

   • Open the VSCode command palette (CTRL, Shift, P), type >WPILIB: Simulate Robot Code, and hit enter.
   • Drag your joystick onto joystick 0
   • Put the robot into teleop
   • Drive!

Controller Mapping

• Left Stick (Y-axis): Forward/Backward movement.
• Left Stick (X-axis): Strafe Left/Right movement.
• Right Stick (Y-axis): Elevation control (up/down).
• Right Stick (X-axis): Yaw control (rotation around Z-axis).
• Right Bumper: Increase Pitch (tilt up).
• Left Bumper: Decrease Pitch (tilt down).
• Left Trigger: Roll left (rotation around X-axis).
• Right Trigger: Roll right (rotation around X-axis).
• A Button: Open Newton Gripper.
• B Button: Close Newton Gripper.
• X Button: Calibrate Gyro.
• Y Button: Reset Gyro.

Thruster Assignments

PWM Port	Component	Description
0	m_leftFront45	Left front 45-degree thruster
1	m_leftRear45	Left rear 45-degree thruster
2	m_rightFront45	Right front 45-degree thruster
3	m_rightRear45	Right rear 45-degree thruster
4	m_leftFrontForward	Left front vertical thruster
5	m_leftRearForward	Left rear vertical thruster
6	m_rightFrontForward	Right front vertical thruster
7	m_rightRearForward	Right rear vertical thruster
9	m_newtonGripper	Newton gripper motor

Troubleshooting

1. Robot is not responding to controller inputs:

   • Ensure the controller is properly connected and dragged to the right port in the Driverstation
   • Make sure the robot is in teleop

2. Gyro issues:

   • Recalibrate the gyro using the X button.
   • Reset the gyro using the Y button.
   • make sure the bot is stationary while calibrating

3. Pose data not showing correctly in AdvantageScope:

   • Drag the robot pose from the field2d, not the pose3d into the field in the bottom
   • right click on it in the bottom field and make sure rotation is in degrees, not radians

Degrees of Freedom Implementation

1. Forward/Backward (Translation on X-axis):

   • Controlled by adjusting the power of the 45-degree thrusters (m_leftFront45, m_rightFront45, m_leftRear45, m_rightRear45) in unison. Positive values move the robot forward, while negative values move it backward.

2. Strafe Left/Right (Translation on Y-axis):

   • Achieved by counter-balancing the 45-degree thrusters to generate lateral movement. For example, increasing the left-side thrusters' power while decreasing the right-side thrusters enables strafing.

3. Up/Down (Translation on Z-axis):

   • Managed by the vertical thrusters (m_leftFrontForward, m_rightFrontForward, m_leftRearForward, m_rightRearForward). Increasing thrust moves the robot up, while decreasing thrust moves it down.

4. Yaw (Rotation about Z-axis):

   • Controlled by applying opposite power to diagonal pairs of 45-degree thrusters (e.g., m_leftFront45 and m_rightRear45 vs. m_rightFront45 and m_leftRear45) to rotate left or right.

5. Pitch (Rotation about X-axis):

   • Adjusted using the vertical thrusters at the front (m_leftFrontForward, m_rightFrontForward) and rear (m_leftRearForward, m_rightRearForward). Increasing front thrust while decreasing rear thrust tilts the robot forward, and vice versa.

6. Roll (Rotation about Y-axis):

   • Achieved by manipulating the left and right vertical thrusters. For example, increasing power on the left-side vertical thrusters and decreasing it on the right-side ones causes the robot to roll clockwise.

Contributing

To contribute:

1. Fork the repository and create a new branch for your feature or bugfix, name the fork <your name>_2025_Ranger_rio ie. ada_2025_Ranger_rio
2. Ensure your code follows the existing style (just run it through a java beautifier) and run it in sim to make sure it doesnt crash.
3. Write clear and concise commit messages.
4. Submit a pull request with a detailed description of your changes.
5. I'll merge it into the main branch if everything is okay and it'll become a part of our robot!

Feel free to open issues or just talk to me (ada) for questions. Thank you :3