FRC team 1778, Chill Out!, is a FIRST Robotics team from Mountlake Terrace. This “technical site” is for meeting summaries or any other information that we see fit to add.

• Our GitHub organization
• Our official team site
• Our TBA page

Useful links:

• Javadocs for WPILib, RevLib API, Phoenix 6, Java 21.
• Repositories for Scrappy and Zappy

Our main two programmers are:

• Simon Branch (email, Discord: siomn)
• Apollo Graves

Meeting summaries follow.

Thursday, October 3rd

• CAN bus and IDs (Using CAN Devices, CAN Wiring Basics)
• NEOs and Krakens
• Gear reductions
• PID controllers (PID Control in WPILib, Introduction to PID)
• Battery and driving
• Our GitHub (see above) and looking at src/main/java/org/chillout1778.

Tuesday, October 15

• Kotlin classes and objects.
• Example: our swerve code (Swerve.kt, SwerveModule.kt).
• PDH (power distribution hub), network switch, radio (how to program). Todo: add which network switch and radio exactly are on our robots.

Thursday, October 17

• All programmers now have a laptop with IntelliJ IDEA installed, and a repository with GradleRIO and the REVLib and Phoenix6 vendordeps.

Tuesday, October 22

• Everyone has now written a flywheel subsystem with two Krakens (one inverted), using a velocity PID and a gear ratio.
• Learned about commands and created a simple command that changes the PID setpoint and exits when the flywheel is within tolerance of that setpoint.
• Figured out that you need to press “refresh Gradle” in the right toolbar if IntelliJ, for some reason, doesn’t know about any library code.
• Rushed through the basic idea of feedforwards.

Thursday, October 24

• Started getting setup for swerve codebase. Added a new testing branch to the offseason bot code (can reference the code for Zappy Feet). Everyone knows how to pull from that branch now.

  Checklist for next year’s swerve drive:

  • switch turn motors from CANSparkMax to TalonFX
  • remove resetting relative encoders from absolute encoders when robot stops moving for a while (unnecessary)
  • discretize ChassisSpeeds for odometry
  • streamline setting encoder offsets (add a dashboard button to save them to a file on the rio, then read that file on startup)
  • characterize drive train so we can use feedforward for auto
  • do pose estimation (and properly)

Saturday, October 26

• Setup more development stuff. Get Pathplanner installed. Started adding people to the LICENSE file.

Tuesday, October 29

• Math and coordinate systems.