Java robot code for FRC Team #7136 (Thistletown Scot Bots) for the 2019 season. This project follows the WPILib “TimedRobot” structure and includes drivetrain control, operator controls for mechanisms, and dual USB camera streaming.
- Java
- WPILib (FRC):
TimedRobot,Joystick,DifferentialDrive,SmartDashboard - Motor control (WPILib PWM):
PWMVictorSPX,Talon,SpeedControllerGroup - CameraServer:
CameraServer,UsbCamera
- Arcade/curvature drive using
DifferentialDrive.curvatureDrive()with a Logitech-style gamepad/joystick - 4-motor drivetrain (left/right groups) controlled via PWMVictorSPX motor controllers
- Input shaping + smoothing
- squared joystick response for turning/throttle at larger inputs
- gradual ramping/decay behavior for smoother control
- Mechanism controls (operator joystick)
- “hand” motor control via buttons (up/down)
- ball intake control via trigger axes
- Dual USB camera streaming with configurable resolution from
robotMap - Centralized configuration via
robotMap(ports, speed limits, camera resolution, thresholds)
- Set up the robot project structure using WPILib’s TimedRobot model.
- Created a
robotMapfile to hold ports and tunable constants in one place. - Split controls into two classes:
OIDrivefor drivetrain logicOIfor mechanism/operator controls
- Added CameraServer support for two USB cameras and set the resolution using config values.
- Integrated everything in
Robot.robotInit()and called control loops in periodic methods.
This codebase was developed by FRC Team #7136 (Thistletown Scot Bots) and contributors during the 2019 season. This repository is maintained as an archive/portfolio reference. I did not author all of the code.
Shared for learning and reference. Please contact the team/owners for reuse permissions if you plan to deploy or redistribute.
- Email: lisanguyen.tech@yahoo.com
- LinkedIn: https://www.linkedin.com/in/lisa-vo-nguyen