High Stakes

VRC Team 1082R - "Robot Go Vroom Vroom"
Retired HS VEX team based in Lucas, Texas
Part of Lovejoy Robotics Club
RobotEvents

2024-2025 High Stakes Code

This repository contains the VEX V5 code for VRC Team 1082R, "Robot Go Vroom Vroom," for the 2024-2025 competition season, themed "High Stakes." The code is developed for a VEX V5 robot and includes various modules for robot control, motion planning, and localization.

Project Structure

The project is organized into several key directories:

• /include: Contains header files for various modules and VEX V5 API.
• /src: Contains source code files for the robot's functionality.
• /vex: Contains VEX V5-specific build system files.
• /Localization: Contains headers and source files related to robot localization (Kalman Filter and MCL).
• /Misc: Contains headers and source files for miscellaneous utilities (Auton routines, Drawing, Matrix operations, Point structures, Spline generation).
• /Motion: Contains headers and source files for motion planning and control (2DMP, LadyBrown, MPC, PID).

Key Components

Robot Configuration

• /include/robot-config.h: Defines the robot's hardware configuration.
• /src/robot-config.cpp: Implements the robot's hardware configuration.

Core Robot Logic

• /src/main.cpp: The main entry point for the robot's code.

Localization

• /include/Localization/Kalman.h and /src/Localization/Kalman.cpp: Implementation of a Kalman Filter for state estimation.
• /include/Localization/MCL.h and /src/Localization/MCL.cpp: Implementation of Monte Carlo Localization (MCL).

Motion Control and Planning

• This repository includes various approaches to motion control and planning, such as PID control, Model Predictive Control (MPC), and potentially custom algorithms like "LadyBrown" and "2DMP."

Miscellaneous Utilities

• Helper functions and classes for autonomous routines, drawing on the V5 screen, matrix operations, point representations, and spline generation for smooth paths.