This is the code repository for Parasaur, the FRC robot developed by Team 6947 Savage Tumaz for the 2023-2024 CRESCENDO Season. Parasaur competed in both the Sacramento (Rank 9, Alliance 4 First Pick) and Central Valley (Rank 8, Alliance 4 First Pick) Regionals. We were honored to receive the Autonomous Award at the Sacramento Regional, and our team captain and head programmer, Aaron Lee, was named a Dean's List Award Finalist at the Central Valley Regional.
In the crucible of competition, where the line between the autonomous period and teleop becomes a frontier for innovation, one team stands out by extending autonomous brilliance into the realm of teleoperation. Utilizing a sophisticated vision system, it not only localizes to its surroundings but hunts down Notes with the precision of a savage predator. Through the clever application of A-star and D-star algorithms, it seamlessly navigates the terrain plotting direct courses to the goals set by the drivers. - Central Valley Regional
- AdvantageKit and AdvantageScope: Leveraging advanced logging capabilities
- AdvantageKit logging was mostly taken off at the Sacramento Regional due to memory issues with our roboRIO 1 (Special thanks to 1678's Citrus Service for helping us debug this issue)
- PhotonVision: Full-field AprilTag tracking and object detection for game pieces, integrated with WPILib's
SwervePoseEstimator. - PathPlanner: Holonomic Mode commands for Autonomous Mode, featuring real-time path preview, generation, and automatic pathfinding with AD*.
- Phoenix6 Integration: Utilizing Velocity and DutyCycle controls for motors.
- MK4i Swerve Field-Oriented Drivetrain: Equipped with Falcon 500 motors, CANcoders, and NavX for precise control.
- Set Shooter Angle: Adjustable to any angle for accurate targeting.
- AutoRise and AutoAim: Automated speaker and note pickup mechanisms.
| AmpPos | Eat3Auto 🏆 | StagePos | |
|---|---|---|---|
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 |
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|
| Expected Notes | 4 | 5 | 4 |
| Average Notes | 2~3 | 4 | 2~3 |
| Subsystem | Type | Name | CAN Bus | CAN ID | Note |
|---|---|---|---|---|---|
| Swerve | Falcon 500 | Drive | canivore | 11,13,15,17 | FL,FR,BL,BR |
| Swerve | Falcon 500 | Angle | canivore | 12,14,16,18 | FL,FR,BL,BR |
| Swerve | Falcon 500 | Cancoder | canivore | 31,32,33,34 | FL,FR,BL,BR |
| AngleSys | Falcon 500 | Left | canivore | 41 | |
| AngleSys | Falcon 500 | Right | canivore | 42 | Follows 41, Invert |
| BottomIntake | Spark MAX (NEO Brushless Motor) | IntakeU | rio | 55 | |
| BottomIntake | Spark MAX (NEO Brushless Motor) | IntakeD | rio | 56 | Follows 55, Same Direction |
| Climber | Falcon 500 | Left | canivore | 51 | Independent |
| Climber | Falcon 500 | Right | canivore | 52 | Independent |
| IntakeAngle | Spark MAX (NEO Brushless Motor) | Motor | rio | 58 | |
| MidIntake | Spark MAX (NEO 550) | Motor | rio | 57 | |
| Shooter | Spark MAX (NEO Brushless Motor) | Up | rio | 62 | |
| Shooter | Spark MAX (NEO Brushless Motor) | Down | rio | 61 |
| Subsystem | Type | Name | CAN Bus | CAN ID | Note |
|---|---|---|---|---|---|
| AngleSys | Spark MAX | Encoder | rio | 43 | no motor, only used as a controller for the SRX Mag Encoder |
| Subsystem | Type | Name | Header | Note |
|---|---|---|---|---|
| AngleSys | Limit Switch | Down Limit | DIO 9 | |
| AngleSys | Limit Switch | Up Limit | DIO 8 | |
| IntakeAngle | Limit Switch | Up Limit | DIO 0 | |
| IntakeAngle | Limit Switch | Down Limit | DIO 1 | |
| MidIntake | REV Color Sensor V3 | Sensor | Onboard I2C |
Utilizes an Orange Pi 5 8GB running PhotonVision with an AR0144 for Object Detection and OV9281 for AprilTag localization. Pose estimation is handled on the coprocessor.
Employs a WS2812B addressable LED strip with 62 LEDs (31 on each side), connected to PWM Header 9. The LED displays the robot's state:
- Normal state: Streaming the alliance color 🟦 🟥
- RIO booting: Solid white or streaming white ⬜
- Picked up note: Solid yellow 🟨
- Shooter activated: Streaming green 🟩
- Micro-Star International Co., Ltd. [微星科技股份有限公司]
- Taiwan Auto Design Co.(TADC) [虎門科技股份有限公司]
- DELLIN DEVELOPMENT CORPORATION [德鄰建設股份有限公司]
- TON SIN ENGINEERING CORP. [同興營造工程]
- Chyuan Hsiang Machinery Factory Co., Ltd. [全祥機械廠股份有限公司]
- Shang Der Automation Co., Ltd. [上德自動化有限公司]
- TINO BELLINI AVENUE CO., LTD. [貝里尼股份有限公司]
- Taipei Fuhsing Private School
- Captain/Lead Programmer: Aaron Lee, Class of 2025
- Technical Mentor: Hank Wei (Meat Bun)
- Mentor: Dorcas Juan
- Engineering Vice Captain/Chief Designer: Jessica Lin (JL), Class of 2025
- Chief Mechanical Engineer: Cory Tseng, Class of 2025
- PR and Business Vice Captain: Cheryl Huang, Class of 2025
- Chief Business Officer: Hiro Lu, Class of 2025
- Strategy Manager: Walter Hsieh, Class of 2025
- Deputy Captain/Mechanic: Aaron Chen (Yi-Chia), Class of 2026
- Mechanic: Mars Chung, Class of 2026
- Human Resources Manager: Austin Wu, Class of 2025
- Factory Manager: Alexander Lin, Class of 2025
- General Affairs: Raymond Yeh, Class of 2025
- Drive Coach: Hank Wei (Meat Bun)
- Driver: Austin Wu, Class of 2025
- Operator: Aaron Lee, Class of 2025
- Driver 2: Evan Chen, Class of 2026
- Human Player/Technician: Cory Tseng, Class of 2025
- Human Player/Technician: Mars Chung, Class of 2026
To all members of our team and everyone who helped us along the way, whether mentioned here or not: we extend our heartfelt thanks for your contributions and dedication.
- Aaron Lee
Team Captain
April 28, 2024