diff --git a/dev/.buildinfo b/dev/.buildinfo index 5eeb38e..16b7be8 100644 --- a/dev/.buildinfo +++ b/dev/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 2839a83f3f51511cfae5994f1925ab88 +config: 034acb39d946dc73d8a045dab9491358 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/dev/PreseasonTraining/2024CodeOverview/index.html b/dev/PreseasonTraining/2024CodeOverview/index.html new file mode 100644 index 0000000..dfd6215 --- /dev/null +++ b/dev/PreseasonTraining/2024CodeOverview/index.html @@ -0,0 +1,393 @@ + + + + + + + + + Lesson 8: 2024 Code overview - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Titan Robotics 2024 documentation
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+

Lesson 8: 2024 Code overview

+
+
+
+

Agenda

+
    +

  • Overview of last years code

    • +

  • Every command and subsystem

    • +

  • Vision code

    • +

  • QnA

    • +

  • Watch old matches for strategy and inspiration

    • +
+
+
+ +
+
+ +
+ +
+
+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/ArmSimulation/Tutorial.html b/dev/PreseasonTraining/ArmSimulation/Tutorial.html new file mode 100644 index 0000000..f822234 --- /dev/null +++ b/dev/PreseasonTraining/ArmSimulation/Tutorial.html @@ -0,0 +1,363 @@ + + + + + + + + + Arm Simulation: Tutorial - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ +
+ +
+
+
+

Arm Simulation: Tutorial

+

TODO: Import https://titanrobotics2022.notion.site/5-4-Arm-91d67fab859a40968919a2f86e20ffcf

+
+ +
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+ +
+ +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/ArmSimulation/index.html b/dev/PreseasonTraining/ArmSimulation/index.html new file mode 100644 index 0000000..f5b2b0a --- /dev/null +++ b/dev/PreseasonTraining/ArmSimulation/index.html @@ -0,0 +1,394 @@ + + + + + + + + + Lesson 5: Arm Simulation - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Lesson 5: Arm Simulation

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+

Contents

+ +
+
+

TODO

+
    +

  • Add torque gravity(?)

    • +

  • Talk about PIDF usage

    • +
+
+
+ +
+
+ +
+ +
+
+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/AutonomousSimulation/Tutorial.html b/dev/PreseasonTraining/AutonomousSimulation/Tutorial.html new file mode 100644 index 0000000..4ce6965 --- /dev/null +++ b/dev/PreseasonTraining/AutonomousSimulation/Tutorial.html @@ -0,0 +1,363 @@ + + + + + + + + + Arm Simulation: Tutorial - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+

Arm Simulation: Tutorial

+

TODO: Import https://titanrobotics2022.notion.site/3-Autonomous-1717871dea664a40b1e3d33cb9062274

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+ +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/AutonomousSimulation/index.html b/dev/PreseasonTraining/AutonomousSimulation/index.html new file mode 100644 index 0000000..568dcd5 --- /dev/null +++ b/dev/PreseasonTraining/AutonomousSimulation/index.html @@ -0,0 +1,368 @@ + + + + + + + + + Lesson 4: Autonomous Simulation - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/JavaBasics/index.html b/dev/PreseasonTraining/JavaBasics/index.html new file mode 100644 index 0000000..66c81e5 --- /dev/null +++ b/dev/PreseasonTraining/JavaBasics/index.html @@ -0,0 +1,555 @@ + + + + + + + + + Lesson 2: Java Basics - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+

Lesson 2: Java Basics

+
+

Agenda

+
    +

  • What is Java

    +
      +

    • A JIT (compiled “Just-In-Time”) language

      +
        +

      • Compiled into Java bytecode

        • +

      • Then bytecode is translated into machine code on target platform

        • +

      • Makes code more cross-platform than C/C++, which is directly compiled

        • +
      +
      • +

    • Statically typed

      +
        +

      • Every variable has a “type”

        • +

      • E.g. “int” == integer number, “double” == decimal number, “string” == text, etc

        • +

      • Lower case type is primitive type: basic type included with java

        • +

      • Upper case type is class type: complex type, see next

        • +
      +
      • +
    +
    • +

  • Object oriented programming

    +
      +

    • Everything is an “object” of a certain “class”

      • +

    • Each class can have “variables” and “functions”

      • +

    • There’s also “constructors”, which are methods that run when you create an object

      • +

    • There’s also modifiers: “public”, “private”, “readonly”, “static”

      • +

    • Private things can only be accessed inside the object

      • +

    • Static are the same for all object instances of a class

      • +

    • Readonly cant be modified after creation, all readonly are static

      • +

    • Btw, “variable” == “member” == “attribute” and “function” == “method”

      • +

    • Python and C++ also have classes

      • +

    • Example class:

      • +
    +
    • +
+
+
Car.java
+
 1class Car {  
+ 2	public Engine engine = new Engine();  
+ 3public float fuel = 0; // Unit is gallons  
+ 4public mileage = 0; // Unit is miles  
+ 5	  
+ 6// The constructor  
+ 7public Car(float fuel, float mileage) {  
+ 8	this.fuel = fuel;  
+ 9	this.mileage = mileage;  
+10}
+11
+12// This method drives the car by X miles  
+13public void driveCar(float miles) {  
+14	this.mileage += miles;  
+15	this.fuel -= miles / 33.0; // 33 miles per gallon  
+16}
+17
+18// Adds fuel to car  
+19	public void addFuel(float fuel) {  
+20		this.fuel += fuel;  
+21	}  
+22}	  
+
+
+
+
+
Main.java
+
1// ...  
+2Car hondaCivic = new Car(0, 0); // Brand new car with zero mileage  
+3car.addFuel(10.0); // Filled it up  
+4car.driveCar(30.0); // Drove the car to IMSA  
+5// ...  
+
+
+
+
    +

  • Libraries

    +
      +

    • Other code you import, typically written by other people

      • +

    • Consists of classes

      • +

    • Standard library is included with java

      • +

    • WPILib is the library we use for FRC

      • +

    • It has stuff like classes for motors and sensors

      • +

    • We also have a library for our gyroscope written by the manufacturer

      • +

    • And also our own library for reusable code: Titan Algorithms

      • +
    +
    • +

  • Walkthrough practice: inventory manager

    • +
+
+
Item.java
+
1class Item {  
+2	public string Name;  
+3	public int Quantity;
+4
+5	public Item(string name, int quantity) {  
+6		this.Name = name;  
+7		this.Quantity = quantity;  
+8	}  
+9}  
+
+
+
+
+
Inventory.java
+
 1class Inventory {  
+ 2private ArrayList<Item> items = new ArrayList<Item>();
+ 3
+ 4public Inventory() {}
+ 5
+ 6public void addItem(Item item) {  
+ 7items.add(item);  
+ 8}
+ 9
+10public String search(String query) {  
+11	String result = "";  
+12	for (int i = 0; i < items.size(); i++) {  
+13		If (items.get(i).Name.contains(query)) {  
+14			// Yes you can add strings  
+15			// "\n" or "\r\n" on Windows is special character for new line  
+16			result += items.get(i).Name + "\r\n";  
+17		}  
+18}   
+19}	  
+20}  
+
+
+
+
+
Main.java
+
 1import java.util.Scanner; // Import standard library for print, this is done automatically by VSCode
+ 2
+ 3// Name of our program  
+ 4class InventoryManager {  
+ 5	public static void main(String[] args) {  
+ 6 		// Java’s print function  
+ 7    		System.out.println("Welcome to inventory manager.");  
+ 8    		System.out.println("Type ‘/add [item name] [quantity]’ to add an item. No spaces in name.");  
+ 9		System.out.println("Type ‘/search [item name]’ to find an item.");  
+10		System.out.println("Type ‘/exit’ to leave the program.");
+11
+12		// Scanner object used to record user input  
+13Scanner inputScanner = new Scanner(System.in);
+14
+15// Our inventory  
+16Inventory inventory = new Inventory();
+17
+18		// While loops run if the condition is true  
+19		boolean isRunning = true;  
+20		while (isRunning) {  
+21String userInput = inputScanner.nextLine(); // Get command input  
+22String[] splittedCommand = userInput.split("\\s+"); // Array with each word
+23
+24			If (userInput.startsWith("/exit")) {  
+25				isRunning = false;  
+26System.out.println("Exiting.");  
+27			} else if (userInput.startsWith("/add")) {  
+28				// Item count is a string but has to be converted to an integer type  
+29				Item newItem = new Item(splittedCommand[1], Integer.parseInt(  
+30splittedCommand[2]));  
+31				inventory.addItem(newItem);  
+32System.out.println("Item added.");  
+33			} else if (userInput.startsWith("/search")) {  
+34				String query = splittedCommand[1];  
+35				System.out.println(inventory.search(query));  
+36			} else {  
+37				System.out.println("Unknown command.");  
+38			}  
+39		}  
+40	}  
+41}  
+
+
+
+
+
+ +
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+ +
+ +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/LEDProgramming/Tutorial.html b/dev/PreseasonTraining/LEDProgramming/Tutorial.html new file mode 100644 index 0000000..cbd6c70 --- /dev/null +++ b/dev/PreseasonTraining/LEDProgramming/Tutorial.html @@ -0,0 +1,363 @@ + + + + + + + + + LED Programming: Tutorial - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
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+ + + + +
+ +
+ +
+
+
+

LED Programming: Tutorial

+

TODO: Migrate https://titanrobotics2022.notion.site/1-LED-Programming-a513f3e774704473a6b4b1377751d5ee here.

+
+ +
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+ +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/LEDProgramming/index.html b/dev/PreseasonTraining/LEDProgramming/index.html new file mode 100644 index 0000000..e2d93e7 --- /dev/null +++ b/dev/PreseasonTraining/LEDProgramming/index.html @@ -0,0 +1,368 @@ + + + + + + + + + LED Programming - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/Mock1/index.html b/dev/PreseasonTraining/Mock1/index.html new file mode 100644 index 0000000..8cccee0 --- /dev/null +++ b/dev/PreseasonTraining/Mock1/index.html @@ -0,0 +1,407 @@ + + + + + + + + + Lesson 6: Mock Season Part 1—Subsystems/Commands - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ +
+ +
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+
+

Lesson 6: Mock Season Part 1—Subsystems/Commands

+
+
+
+

Agenda

+
    +

  • Provide:

    +
      +

    • Swerve subsystem

      • +

    • Localizer

      • +

    • Utils, etc

      • +

    • Measurements

      • +

    • Motor and sensor IDs

      • +

    • Resources and links

      • +
    +
    • +

  • Programming subsystems and commands

    • +

  • Split into groups for subsystems

    +
      +

    • Group 1: intake, indexer, LEDs

      • +

    • Group 2: elevator

      • +

    • Group 3: shooter

      • +
    +
    • +

  • Give hints and implementation details for some subsystems (e.g. shooter positioning math)

    • +
+
+
+ +
+
+ +
+ +
+
+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/Mock2/index.html b/dev/PreseasonTraining/Mock2/index.html new file mode 100644 index 0000000..f4a8439 --- /dev/null +++ b/dev/PreseasonTraining/Mock2/index.html @@ -0,0 +1,390 @@ + + + + + + + + + Lesson 7: Mock Season Part 2—Autonomous - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ +
+ +
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+

Lesson 7: Mock Season Part 2—Autonomous

+
+
+
+

Agenda

+
    +

  • Provide vision localizer

    • +

  • Teach PathPlanner

    • +
+
+
+ +
+
+ +
+ +
+
+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/OpenCV_ColorSegmentation/Tutorial.html b/dev/PreseasonTraining/OpenCV_ColorSegmentation/Tutorial.html new file mode 100644 index 0000000..0a830c4 --- /dev/null +++ b/dev/PreseasonTraining/OpenCV_ColorSegmentation/Tutorial.html @@ -0,0 +1,363 @@ + + + + + + + + + Color-based segmentation in OpenCV Python: Tutorial - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
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+ +
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+ + + + + Back to top + +
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+ + + + +
+ + + + +
+ +
+ +
+
+
+

Color-based segmentation in OpenCV Python: Tutorial

+

TODO: Figure out where we put the tutorial!

+
+ +
+
+ +
+ +
+
+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/OpenCV_ColorSegmentation/index.html b/dev/PreseasonTraining/OpenCV_ColorSegmentation/index.html new file mode 100644 index 0000000..a6b5bee --- /dev/null +++ b/dev/PreseasonTraining/OpenCV_ColorSegmentation/index.html @@ -0,0 +1,368 @@ + + + + + + + + + Color-based segmentation in OpenCV Python - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
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+ +
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+ + + + +
+ + + + +
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+ +
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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/Overview/index.html b/dev/PreseasonTraining/Overview/index.html new file mode 100644 index 0000000..c361319 --- /dev/null +++ b/dev/PreseasonTraining/Overview/index.html @@ -0,0 +1,458 @@ + + + + + + + + + Lesson 1: Setup, Strategy, Overview (All-Team) - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ +
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+
+

Lesson 1: Setup, Strategy, Overview (All-Team)

+
+
+
+

Agenda

+
    +

  • What does FRC programming do

    +
      +

    • Make best/smoothest driving experience for the drivers

      +
        +

      • Reduce amount of thinking and time wasted during the game

        • +

      • We do that through optimizing driving and automating tasks

        • +
      +
      • +

    • Score as much points in autonomous 15 second period

      +
        +

      • Good autonomous can make a bad robot perform good

        • +
      +
      • +
    +
    • +

  • Structure

    +
      +

    • All project files stored on Github, project management software like Bild

      • +

    • Vision code is on the coprocessors, robot control code is on the roborio

      • +
    +
    • +

  • roboRIO

    +
      +

    • Most important part of the robot

      • +

    • Should always be accessible

      • +

    • Can be plugged into a computer through USB, ethernet, or WiFi

      • +
    +
    • +

  • Driver Station

    +
      +

    • Press enter to disable

      • +

    • Press space to emergency stop (the robot has to restart to be enabled again)

      • +

    • All these lights have to be green for it it work

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  • Phoenix Tuner X

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    • Can be used to control or monitor motors, here’s how to do it

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    • Needs driver station to work

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  • What non programmers need to know (remember this)

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    • We can’t make the robot fly

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      • Software is not a substitute for bad hardware

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      • Hard stops >>> software stops

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    • DI only has two customers: the programming team and the drive team

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    • Please ask us while designing, not after!!

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  • Links

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    • Cheatsheets

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      • Driver Station + Phoenix Tuner X + REV Hardware Client

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      • Git

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      • WPILib VSCode + WPILib overview

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      • Linux

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  • Homework for programming subteam

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    • Download Java, VSCode, WPILib, and Git + sign-in

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Tank Drive Simulation: Tutorial

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TODO: Import https://titanrobotics2022.notion.site/2-Tank-Drive-1291dde0e33245d3aa9b26da1b6b99b4

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+ + + + + + + + \ No newline at end of file diff --git a/dev/PreseasonTraining/index.html b/dev/PreseasonTraining/index.html new file mode 100644 index 0000000..a9eff23 --- /dev/null +++ b/dev/PreseasonTraining/index.html @@ -0,0 +1,400 @@ + + + + + + + + + Preseason Training - Titan Robotics 2024 documentation + + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark, in light mode + + + + + + + + + + + + + + + Auto light/dark, in dark mode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Preseason Training

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Contents

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Contents