The codebase for Polyphemus, the Ctrl-Z robot used in FRC 2017 Steamworks competition season.
The code is written in Python 3.4, using the robotpy libraries. It uses the command-based structure. Subsystems and commands are in dedicated folders, as are the autonomous modes.
Polly has a vision system using a Raspberry Pi 2, connected to the roboRIO. The Pi runs mjpg-streamer, turning the USB camera into an IP camera stream. The Pi also runs GRIP, which uses the deployed configuration file to identify targets and publish the contour data to NetworkTables. This data is then used as-needed by the robot code running on the roboRIO.
This repo contains the robot code last used at the Rock River Offseason Competition, as well as the GRIP configuration files for each competition venue.
Driver Station:
roboRIO:
Raspberry Pi 2
Please see the robotpy docs and pyfrc docs for installation instructions.
Feel free to email us: [email protected]