Welcome to the code repository for Team 75551A, featuring advanced robotics control systems for VEX Robotics Competition. This repository contains a comprehensive PROS-based control system implementing feedforward control, motion profiling, localization, and intelligent mechanism control.
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Feedforward Velocity Control
DC motor control using feedforward constants (K_v, K_a, K_s) for precise velocity and acceleration control without requiring feedback loops. -
System Identification
Automated motor characterization that determines feedforward constants through steady-state and acceleration testing. Supports multiple motors simultaneously. -
Holonomic Drivetrain
Six-wheel holonomic drivetrain (4 mecanum + 2 omni wheels) with differential drive kinematics, velocity bounds calculation, and acceleration-limited control. -
Motion Profiling
Trapezoidal and triangular motion profiles for linear and angular movement with configurable acceleration and velocity limits. -
RAMSETE Controller
Nonlinear feedback controller for path following that provides stable convergence to desired poses and velocities, even with modeling errors. -
Odometry-Based Localization
Position tracking using rotation sensors and IMU, with support for pose reset and continuous pose updates. -
Motor Controller Abstraction
High-level motor control with velocity bounds, deadband filtering, and acceleration limiting. Supports both voltage and acceleration-based control.
- 2D Motion Profiling: Extended motion profiles for simultaneous translation and rotation
- Path Generation Integration: Support for importing paths from tools like Path Jerry
- Enhanced Localization: Integration with vision sensors for pose correction
- Library Extraction: Package reusable components as a standalone PROS library