TeleOp
TeleOp is the driver-controlled part of a match. We mapped the controller so the drivers can drop to 40% speed for precise lining-up, or overclock the drivetrain when they need to cross the field fast. We run a mecanum chassis with Pedro Pathing, so the code stays simple while the robot still moves sideways and rotates smoothly.
Autonomous
In autonomous the robot drives itself. We use Pedro Pathing for the trajectory generation, which lets us build smooth curves and reliable starts. Paths are laid out in the Pedro Pathing Visualizer before we ever run them on the real field.
Turret Auto-aim
The turret aims at the goal automatically using a combination of the control hub IMU, odometry, and AprilTag detection through a webcam. That lets the drivers focus on collecting and scoring instead of constantly lining up shots.