We've got an in-depth white paper on control systems available right here! We hope it'll be useful!
Custom Tank Tread Drive
We've got a white paper on a custom tank tread drive used in the FRC 2016 Season: STRONGHOLD. It's a cool bit of team history and maybe it'll interest you!
We've got our code for the 2017 FIRST Steamworks Challenge public on our GitHub right now! Take a look at our automatic alignment using vision and our global positioning system that we used at worlds!
Here's our code for the 2018 FIRST PowerUp Challenge! Our PowerUp robot could place three cubes in our switch or two on the scale during the autonomous period. That trick earned us a place on the Einstein field for the Archimedes alliance in Detroit!
In 2019 our DeepSpace robot had some unique mechanisms including vision-based PID control for alignment and a super cool vacuum gripper with mechanical compensators and vision-based PID alignment. Using our custom configuration files we could control all of the subsystems - for example, how many suctions cups needed to be in contact before the vacuum would activate!
Stormgears has developed a modular and expandable Arduino-based multi-controller subsystem network running over I2C to support easy integration of sensors and non-servo control elements into our robots. We used a four-Arduino version for a servo-controlled smart cart to transport our robot.
Take a look!
All of the hardware details for StormNet are also in Git below.