The codebase which we used for the 2025 FIRST Robotics Competition Game, REEFSCAPE, based on the YAGSL-Example project, for 1672's Robot, Nautilus.
Electrical Robot Specifications:
- SDS MK4i Modules
- SPARK MAXs and NEO v1.1's
- Pigeon 2.0 for Field Oriented Drive
- CANCoders
Robot Features:
- L1, L2, L3 Automated Scoring
- 2 Coral L2 Autonomous Routine
- Algae L2, L3, and Lollipop Removal with Processor Scoring
- Coral Station Pickup
| Main | Simulation |
|---|---|
| The main code currently used for testing on our robot. | Simulation Testing. |
Our robot uses a Beelink Mini PC running PhotonVision to be able to detect AprilTags. 3 Arducam OV9281 cameras for real-time AprilTag detection. Cameras are orienting forwards and backwards.
The robot gets information for where to autoscore based on values published to NT4 by the Reefscape Scoring App. Please visit the repo for more information on the codebase.
The operator controller is only used as a backup control in the event the scoring app does not work, or we lose complete field odometry. The operator controller also controls the climb subsystem.