Intake

The intake is controlled using the bumpers on the gamepad. The left bumper intakes game pieces into the robot while right bumper reverses to output back onto the field.

Flywheels and Feeder

The flywheel on the Starter Bot is controlled using two motors. These motors need to move at the same time when activated.

When cross is pressed, the flywheels will both spin up to the set target velocity. Then the Core Hex controlling the feeder will wait until both motors are within 100 ticks of the target velocity before activating and feeding game pieces into the flywheel to launch.

Manual Feeder Control

The Core Hex motor controlling the feeder into the flywheel can be manually controlled using the Dpad on the gamepad to assist with agitating game pieces and clearing jams.

Stopping the Motors

If the robot is not receiving input from the Dpad or Cross button, then all three motors will return to 0 power.

To aid with fine tuning the flywheels, we can add telemetry to see the current velocity on the Driver Hub. The velocity can be changed by modifying the targetVelocity variable.

If your team is new to FIRST Global Challenge, or in need of a review, we strongly recommend checking out our updated before diving in!

To begin, let's take a look at the configuration and actuators used in this year's design.

Before our program begins, we need to do some set up first as part of initialization. This section of code will run when "Init" is pressed on the Driver Hub and before "Play" is pressed!

Motor Settings

The motors on the drivetrain are mirrored with each other. If we set them to run the same direction then the robot will only spin in a circle! Instead, we will set the left motor to run in reverse allowing us to drive normally.

As for the motors used for the flywheel, because we plan to use velocity we need the encoders enabled to receive proper measurements.

Variables

We will be using velocity for the flywheel motors. We can create a variable for our target velocity to make it easy to make adjustments later if we increase or decrease the target.

Velocity is measured in ticks per second.

The FGC Starter Bot is designed for arcade drive. The left joystick controls all movement for the robot's drivetrain, forward/back and turning!

The inputs from the joystick will be stored in the set up X and Y variables. However, unlike the targetVelocity constant variable set up during initialization, these variables will update every time the program loops.

Then these variables are used to calculate how much power to give each motor based on the current movement of the joystick.

The FGC Starter Bot uses a single motor for climbing. On the gamepad, pressing