ITKAN Robotics — 2024 Robot Code (Team 9128)

GradleRIO Java command-based project for a CTRE swerve + vision-assisted shooter robot (2024-style game logic: speaker, amp, pass, intake cycles). Built on a TalonFX swerve template, extended with Limelight aiming, lookup-table shooting, and PathPlanner autos.

Stack: WPILib 2024 · Phoenix 6 · PathPlannerLib · REV · PhotonLib (Limelight helpers) · Playing With Fusion TOF (transfer sensing)

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Architecture

flowchart TB
    subgraph inputs["Inputs"]
        JOY["Joystick (port 0)\ndrive axes"]
        DRV["PS5 Driver (port 0)"]
        OPR["PS5 Operator (port 1)"]
        LL["Limelight\n(speaker pipeline)"]
        ILL["Intake Limelight\n(note pipeline)"]
    end

    subgraph core["RobotContainer"]
        RC[Bindings + NamedCommands]
        AC[AutoChooser]
    end

    subgraph drive["Drivetrain"]
        SW[Swerve]
        TS[TeleopSwerve]
    end

    subgraph mech["Mechanisms"]
        INT[IntakeSubsystem]
        TR[TransferSubsystem\ngate + TOF]
        ARM[ArmSubsystem\nMotion Magic]
        SH[ShooterSubsystem\ndual TalonFX velocity]
    end

    subgraph vision["Vision Shoot"]
        VLT[VisionLookUpTable]
        LSA[LookUpShootAndArm]
    end

    JOY --> TS
    DRV --> RC
    OPR --> RC
    RC --> TS
    RC --> INT & TR & ARM & SH
    LL --> LSA
    LL --> TS
    ILL --> RC
    VLT --> LSA
    SW --> TS
    AC --> SW
    TR --> SH
    INT --> TR
    ARM --> SH

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Subsystems

Subsystem	Hardware	Role
Swerve	Pigeon2 + 4× TalonFX modules	Field-centric drive, odometry, PathPlanner AutoBuilder holonomic follower
IntakeSubsystem	TalonFX	Floor intake roller
TransferSubsystem	TalonFX + servo gate + TOF	Moves notes through indexer; openGate() / closeGate() for shot timing
ArmSubsystem	TalonFX (Motion Magic)	Aim angle presets (ScoringEnum) + dynamic vision angle
ShooterSubsystem	Dual TalonFX	Velocity-controlled flywheels; asymmetric L/R speeds supported
LimelightSubsystem	Limelight	Speaker targeting (tx, ty, distance)
IntakeLimelightSubsystem	Limelight	Note-relative heading for OverrideToNote auto

Default commands (from RobotContainer):

• Swerve → TeleopSwerve
• Intake → hold at 0
• Shooter → stop()
• Arm → INTAKE preset
• Transfer → transferDefault()

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Teleop

Controller layout

Drive sticks come from a Joystick on port 0 (mapped to PS5 axis IDs). Two PS5 controllers on ports 0 and 1 handle gamepiece and shoot actions. Either driver or operator can trigger shared actions via Trigger.or().

flowchart LR
    subgraph driver["Driver PS5 + Joystick"]
        D1["Left stick → translate/strafe"]
        D2["Right stick → rotate\n(magnitude + atan2 blend)"]
        D3["R2 → intake forward"]
        D4["L2 → intake reverse"]
        D5["R1 → open gate + feed"]
        D6["L1 → amp shoot ramp"]
        D7["△ hold → vision arm + LookUpShoot"]
        D8["POV↑ → manual flywheel 3000"]
        D9["POV↓ → PASS arm preset"]
        D10["Options (joystick) → zero gyro"]
    end

    subgraph operator["Operator PS5"]
        O1["R2 → intake forward"]
        O2["L2 → intake reverse"]
        O3["R1 → GetReady SOURCE"]
        O4["○ → GetReady CENTER"]
        O5["□ → GetReady AMP"]
        O6["L1 → amp shoot ramp"]
        O7["△ → AMP arm preset"]
        O8["POV↓ → INTAKE preset"]
        O9["Touchpad hold → SPEAKER + SmartShoot"]
    end

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TeleopSwerve — more than tank drive

TeleopSwerve is the default drive command. Besides manual translation/rotation it:

• Applies squared input scaling and deadband (SquaredInput)
• Supports heading hold via operator buttons passed into the constructor (R1, ○, □, △) — PID locks field heading while translating
• Integrates Limelight-assisted rotation when the triangle trigger is held
• Can run in robot-centric mode when PS is held (driver)

Key teleop commands

Command	What it does
Intake	Runs intake + transfer forward; sets arm to INTAKE; reverses shooter slightly for dejam
LookUpShoot	Reads Limelight distance → VisionLookUpTable → sets flywheel speeds + feeds when ready
ArmVision	Sets arm angle from vision lookup (paired with LookUpShoot on △)
GetReady	Pre-spins flywheels + arm for pass positions (1=source, 2=center, 3=amp)
SmartShoot	Fixed-speed speaker shot with transfer feed
AutoRoutines.ampFlywheelRampThenShoot	Amp shot sequence: spin up → open gate → feed

Vision lookup table

Constants.getLookupTable() defines distance → (arm angle, left RPM, right RPM) knots. VisionLookUpTable binary-searches and interpolates. Used by LookUpShoot, LookUpShootAndArm, ShootSpeedUpNoArm, and ArmVision.

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Autonomous

PathPlanner pipeline

sequenceDiagram
    participant SD as SmartDashboard
    participant AB as AutoBuilder
    participant PP as .auto + .path files
    participant SW as Swerve
    participant NC as NamedCommands

    SD->>AB: autoChooser.getSelected()
    AB->>PP: load auto JSON
    loop each path segment
        AB->>SW: holonomic path follow
    end
    loop each named event
        AB->>NC: run registered command
        NC->>SW: FixHeading / TurnToAngle / OverrideToNote
        NC->>SH: limeShot / ShooterSpeedUp / shootRampUp
        NC->>INT: Intake / QuickIntake / IntakeStop
    end

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Autos live in src/main/deploy/pathplanner/autos/. Paths in src/main/deploy/pathplanner/paths/. Select on the Auto Chooser widget.

Competition-oriented autos (examples)

Auto	Notes
5Note.auto / 5Note-Mathew.auto	Multi-cycle with limeShot, intake deadlines, heading fixes
AA-6Note.auto	6-note style path; folder AA-6Note
state_source.auto	Source-side state auto; folder state_source
SourceSideAuto.auto	Source intake + TurnToAngle + limeShot
v4a 4 note.auto	4-note speaker cycle
Speaker1.auto	Short speaker test
FullFarNoteAuto.auto	Far-side note paths + limeShot
LimeShotTest.auto	Intake + OverrideToNote + limeShot
BasicAuto.auto / TestAuto.auto	Path-only / smoke tests

Registered NamedCommands

These must match string names in .auto / event markers in .path files.

Name	Implementation summary
ResetAutoGyro	s_Swerve.resetAutoHeading()
Intake	Close gate → intake + transfer run
QuickIntake	Short aggressive intake burst
IntakeStop	Stop intake → brief reverse transfer pulse
FixHeading	AutoRotateToSpeaker (Limelight snap to speaker)
TurnToAngle	PID rotate toward Limelight target
limeShot	Full vision shot: stop intake → backfeed → open gate → LookUpShootAndArm → arm to auto-intake
limeShotOnly	Vision shot without pre-roll sequence
ShooterSpeedUp	Spin flywheels from lookup (no arm move)
shootRampUp	Fixed-speed ramp (ShooterAndArmRampUp) — used in path events
OverrideToNote	Rotate to intake Limelight note bearing

limeShot auto sequence (core scoring routine)

flowchart TD
    A[IntakeStop] --> B[Transfer backfeed -0.25]
    B --> C[Transfer stop]
    C --> D[openGate]
    D --> E[LookUpShootAndArm\nLimelight → lookup table]
    E --> F[armSetIntake preset]

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Project layout

src/main/java/frc/robot/
├── Robot.java              # TimedRobot + CANdle init
├── RobotContainer.java     # Subsystems, bindings, NamedCommands, auto chooser
├── Constants.java          # Swerve + mechanism IDs + shooter lookup table
├── commands/
│   ├── TeleopSwerve.java   # Default drive + heading assist
│   ├── AutoRoutines.java   # Shared auto/teleop sequences
│   ├── LookUpShoot*.java   # Vision shooting
│   └── ...
└── subsystems/

src/main/deploy/pathplanner/
├── autos/*.auto
├── paths/*.path
├── settings.json
└── navgrid.json

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Build and deploy

./gradlew build          # compile + run checks
./gradlew deploy         # deploy jar + src/main/deploy to roboRIO

Deploy directory on the Rio: /home/lvuser/deploy (PathPlanner files included).

Tuning entry points:

• Swerve geometry/PIDs → Constants.Swerve
• Arm presets → ArmSubsystem.ScoringEnum + setArmPosition()
• Shot tuning → Constants.getLookupTable() presets
• Auto paths → PathPlanner GUI → commit updated .path / .auto

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LEDs

Robot.java configures a CTRE CANdle (Constants.CANdLEID) for status indication. Not driven by a subsystem — animations triggered from mechanism code as needed.

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Vendor dependencies

Vendordep	Used for
Phoenix 6	Swerve, arm, shooter, intake, transfer
Phoenix 5	CANdle LEDs
PathPlannerLib	Autos + holonomic following
REVLib	(available; mechanism code primarily CTRE)
photonlib	PhotonUtils helpers in Limelight code paths
playingwithfusion2024	TOF on transfer

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Quick reference — arm presets (ScoringEnum)

Preset	Typical use
INTAKE	Floor pickup
SPEAKER / FARSPEAKER	Fixed speaker shots
AMP	Amp scoring angle
PASS	Pass shot
AUTOINTAKE	Post-shot stow
AUTOSHOOT*	Auto aim variants

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Contributing

1. Branch from main
2. Run ./gradlew compileJava before PR
3. If you add PathPlanner named events, register the command in RobotContainer before AutoBuilder.buildAutoChooser()
4. Keep lookup-table distances in meters from bumper to target