Team History with Controls

2024 Season

Tentative

• Drivetrain: MK4i swerve + CTRE Kraken motors
• Gyro: CTRE Pigeon
• Programming
  • Command Based Programming Java adapted from CTRE Generated Swerve drive
  • Improved use of CTRE control modes such as MotionMagic
  • Improved use of Path Planner
  • Improved use of Limelight

2023 Season

• Drivetrain: MK4i swerve + CTRE-Vex Falcon500 motors
• Gyro: CTRE Pigeon
• Programming:
  • Command based Java adapted from BearSwerve
  • Limited use of PathPlanner during autonomous
  • Limelight never made it to the competition bot

2022 Season

• Drivetrain: MK3 swerve + CTRE-Vex Falcon500 motors
• Programming:
  • Command based Java adapted from SDS
  • Limited use of Limelight
  • Basic path planning during autonomous
  • PhotonVision never made it out of beta

2019 and Prior

• Drivetrain: Mecanum, tank drive, rhinotracks, or omni wheels combined with others depending on the game demands
• Drive motors: CIM motors mostly, switched to Falcons in 2019?
• Gyro: NavX
• Programming: Iterative Java