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===== Drivebase =====

__4 Traction, 2 Omni Wheeled Tank Drive
__ \\ The overall design was decided before the season started, was not modified thereafter

**Github** \\
[[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/subsystems/Drivebase.java|Drivebase.java]] \\ [[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/commands/CurvatureDrive.java|CurvatureDrive.java]]

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==== Early Testing ====

The code for the drivebase was created in within the first 5 days of the season, was immediately ready to test once the drivebase was handed off to software. There were no physical problems noted as of that time.

{{:drivebasetesting2022.mp4}}

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==== Iterations ====

  * Changed to curvature drive
  * Added an acceleration limiter to prevent tipping
    * Later on in the season after ECU we found that there was an issue of tipping if stoped abruptly and was driven in the opposite direction. As a result of this we added a check if this happened to limited the speed.
  * Added a cubic throttle ramp

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==== Path Planning ====
[[https://github.com/Team-4795/2022-Rapid-React/tree/main/src/main/deploy/paths/output|Paths Files]]\\

{{ :img_1027.mp4?100}}
Within the first week we got characterization and a straight path working on the practice drivebase. It took quite a bit to figure how to do reverse splines, which limited how complex the paths got before Guilford. The practice drivebase was under utilized, it eventually got relegated as a test board.

During a two, three week period we spent most of our meeting to tune our auto routines as well as computer vision. This was extremely beneficial for us as we lack the resources (carpet and space) at our school. That may very well be a limiting factor in future years as well.

  * ECU, One-Two Auto
  * Guildford, Two-Three Ball Auto
  * States, Three-Four Ball Auto 
  * Worlds, Four Ball Auto