The PROS 3 Code for the Team BLRS 15" Robot used for the 2018-19 VEX U Turning Point Season.
- Odometry powered by two unpowered encoder wheels
- A modified pure pursuit algorithm and RAMSETE controller acting as feedback control to OkapiLib's AsyncMotionProfileController Spline feedforward paths
- OkapiLib's LinearMotionProfileController 1D feedforward profile coupled with PID feedback for point turns and short forward/backward movements.
- Modified version of the OkapiLib PIDAutotuner for use with the above LinearMotionProfileFollower controllers.
- Kalman Filter library built with Eigen to be capable of use with 1D+ systems
- Flywheel velocity control using 1D Kalman Filter and TBH control, Python script used for Kalman Filter simulation
- LCD Autonomous Selector utility using the PROS LLEMU
- LCD Vision Sensor calibration utility using the PROS LLEMU
- Logging Utility with RNG file naming that writes to uSD card
- libforkner and tests source files are compiled with PROS/OkapiLib into the cold binary while scripts and PROS template files are compiled into the hot binary for faster scripting
- Automatic clang-format script that was set up as a git commit hook
- Python visualization tools for the Pure Pursuit debug info and the odometry logger data
- Python script for exporting code to a LaTeX document for printing and displaying in engineering notebook
- MATLAB/Octave Script for LQR Tuning of a 1 motor state space controller (originally used on flywheel but TBH had better performance)
Some of the code in this repository has been removed to preserve the team's competitive edge and to encourage learning the algorithms used instead of copy/pasting code. Most of the redacted code can be rewritten by following along with the math in the papers listed in the header docstring for the given source file.
As a result of this removed code, the project will not compile in its current state.