This repository contains notes for the programming lessons and workshops. Lessons are updated from year to year as required. Workshops are held each year with special-topics for the team to gain new capabilities.
- Coding orientation
- Starter project & joysticks
- Adding Motor Control
- Op Modes, Telemetry, Faults/Alerts
- Commands v3
- State Machines (with commands)
- Controls intro, control code from prior years, documentation
- Swerve drive tuning
- Simulations
- Controls: Feedback, Feedforward, PID
- Controls: Inner/outer loops, Input shaping, gain scheduling
- System ID / Mechanism characterization
- Vision/odometry navigation
- Autonomous code / pathplanner