DISCLAIMER

As this contains untested off-season code changes, it is impossible to guarantee that it will work properly. See the related Untested Changes section on the primary known risks.

Drive Template

Contains a template consisting of basic LED, Drive, and Intake subsystems that we are confident will be used in future years, alongside our autonomous structure. Serves as a clean starting point for future years.

Untested Changes

As this is developed during the off-season, it comes alongside changes we wanted to implement but didn't have a chance to test

• LED Subsystem

  • Contains a new structure known to be broken without errors currently. Has to be debugged further to see if we will need to revert to working 2024 LED Subsystem

• Drive on Approach Angle

  • Had testing with slow speeds and seems to work, but should be ran on a full field with a longer autonomous command to confirm behaviour

• Position Resetting with Limelight

  • The underlying code seemed to work with a quick PoC. Should be tested on a field after drifting in Teleop, and then with the autonomous command (example command created)
  • Contains teleop code to reset position off of apriltag off of a driver button. This should be removed in actual season, but kept until the code is confirmed to work. Additionally includes debugging code in the corresponding Drive.java method.

• Autonomus Command Structure Change (Data objects, reversing in Constructor, Offset methods)

  • All of this remains untested. Rough steps to test:
    • Run normal test auto to ensure new objects work
    • Add red and blue offset modifiers in opposite directions
    • Test the red offset
    • Change to blue and ensure it's still reversing, and it's running the correct offset

• X/Y naming convention change

  • This almost certainly works fine as it is only a naming convention, though it's always possible it broke something and worth noting