frc6854/2020infiniterechargeofficial

Code for 2020 Infinite Recharge by FRC 6854

2020 Infinite Recharge Official

Build project with internet connection before deploying to robot to fetch all vendordeps. Also use latest VIKING package.

Layout

The current project uses our layout from last season.

frc/robot/subsystems contains all of our moving parts on our bot. For example our drivetrain and conveyor code is found here. We are using the new command-based WPILib package this year for our robot structure. This means that the way we create Commands and Subsystems will change a bit from what it was last year but the logic is almost exactly the same. Our subsystems also use the Singleton pattern where we can. This prevents multiple instances of a subsystem being created and it is more performant when you want to reference the subsystem somewhere else.

frc/robot/commands contains all of code for controlling the subsystems during runtime. They run in the CommandScheduler and some commands are in an infinite loop so that they will run all the time when another command isn't scheduled. For example our ArcadeDrive command will run forever since there should be not exit case.