All software for the Rebel Alliance's 2021 season and its game, Infinite Recharge. This code is a continuation of the Rebel Alliance's 2020 robot code, which can be found here.

The primary project for 2021: commanding Zion to play this year's game.

4624's 2021 robot resides on a swerve drivetrain based on Team 2910's Swerve Drive Specialties MKII swerve modules. Controlling this is the first objective of the project, with movement and rotation in any direction and of any combination. Methods then exist for operating an intake to store Power Cells, as well as a launcher for throwing them. Finally, this is all wrapped in a system of fully autonomous extension methods to complete tasks such as positioning, alignment, launching, and climbing either automatically or with autonomous driver assistance.

The code in this project is fully documented, and a thorough description of each class and method exists at the beginning of its respective header file.

This is a 2021 WPILib project which uses vendor libraries from REV and Kaui for motor controller and sensor functionality. With an up-to-date install of WPILib VSCode and these vendor libraries installed, the project can be imported and built automatically through GradleRIO. Otherwise, the code can be browsed on GitHub or locally.