3818D High Stakes Codebase

Watch our reveal video! (click below)

Features

Teleop

• Control code for tank, asterisk and X drivetrain types

Motion Algorithms

• Easy-to-use PID classes

• Generic odometry-based PID motion for holonomic drivetrains

• Non-overlapping Pure Pursuit implementation

  • with tracked position interpolation to prevent point skipping

• 2D Motion Profiling for holonomic drives

  • with support for any linear profile
  • with angular acceleration minimization

• Path generation using uniform Catmull-Rom spline

  • centripetal + chordal coming soon

• Heading interpolation for splines

  • lerp from control points

• Trapezoidal linear motion profile generation

  • time and distance parameterization

Sensors

• Abstractions for gyroscopes and rotation encoders
• Filtered gyroscope class using modular arithmetic averages
• Custom 2-tracker odometry algorithm for higher tracking accuracy
• Sensor fusion with 2 IMUs with the KFOdometry class

Math and Logic

• Extensible state machine implementation
• Reliable ExitCondition class
• Linear and angular balancing for teleop "arcade" style movement

Utils

• Logging with colour support
• Generic AutoUpdater for updating odometry, PID, exit conditions, etc.
• A variety of miscellaneous functions such as shorter_turn and clamp_distance

Dependencies

Tests

ccache g++

plot.py

ffmpeg

Python (via pip)

pros-cli matplotlib PyQt6