TA
TASRobotics/RaidZero-FRC-2025
4253 Raid Zero robot code for 2025 Reefscape season
RaidZero FRC 2025
4253 Raid Zero robot code for 2025 Reefscape season
Subsystem details
Climb
| Device Name | Device Type | CAN ID | CAN Bus |
|---|---|---|---|
| Climb Joint | TalonFX - Kraken | 17 | RoboRIO |
| Climb Winch | TalonFX - Kraken | 16 | RoboRIO |
Limelight
Offsets table
| Limelight | IP | X | Y | Z | Roll | Pitch | Yaw |
|---|---|---|---|---|---|---|---|
| FL | 10.42.53.11 | -0.2155 | 0.2216 | 0.2689 | 0.0 | 20.0 | -45.0 |
| FR | 10.42.53.12 | 0.2155 | 0.2216 | 0.2689 | 0.0 | 20.0 | 45.0 |
| BR | 10.42.53.13 | 0.2445 | 0.2216 | -0.2521 | 0.0 | 35.0 | -135.0 |
| BL | 10.42.53.14 | -0.254 | 0.2286 | 0.1778 | 0.0 | 45.0 | 180.0 |
Directions
- X is left-right direction
- Left is negative, right is positive
- Y is up-down direction
- Down is negative, up is positive
- Z is forward-backward direction
- Backward is negative, forward is positive
- Counterclockwise is positive degrees
Notes
- Forward of the bot is the scoring side
- Back of the bot contains the RoboRIO
- All units are in meters and degrees
- XYZ measurements are relative to the center of the bot in CAD
Swerve
| Device Name | Device Type | CAN ID | CAN Bus |
|---|---|---|---|
| RotorFL | TalonFX - Kraken | 6 | CANivore - "CANdoAttitude" |
| ThrottleFL | TalonFX - Kraken | 5 | CANivore - "CANdoAttitude" |
| CANCoderFL | CANCoder | 3 | CANivore - "CANdoAttitude" |
| RotorFR | TalonFX - Kraken | 4 | CANivore - "CANdoAttitude" |
| ThrottleFR | TalonFX - Kraken | 3 | CANivore - "CANdoAttitude" |
| CANCoderFR | CANCoder | 2 | CANivore - "CANdoAttitude" |
| RotorBL | TalonFX - Kraken | 8 | CANivore - "CANdoAttitude" |
| ThrottleBL | TalonFX - Kraken | 7 | CANivore - "CANdoAttitude" |
| CANCoderBL | CANCoder | 4 | CANivore - "CANdoAttitude" |
| RotorBR | TalonFX - Kraken | 2 | CANivore - "CANdoAttitude" |
| ThrottleBR | TalonFX - Kraken | 1 | CANivore - "CANdoAttitude" |
| CANCoderBR | CANCoder | 1 | CANivore - "CANdoAttitude" |
| Pigeon | Pigeon2 IMU | 0 | CANivore - "CANdoAttitude" |
Telescoping arm
Arm
| Device Name | Device Type | CAN ID | CAN Bus |
|---|---|---|---|
| Telescopingarm Joint | TalonFX - Kraken | 10 | RoboRIO |
| Telescopingarm Telescope | TalonFX - Kraken | 11 | RoboRIO |
| Joint CANCoder | CANCoder | 11 | RoboRIO |
Coral intake
| Device Name | Device Type | CAN ID | CAN Bus |
|---|---|---|---|
| CoralIntake | TalonFXS - Minion | 12 | RoboRIO |
| CoralIntake follow | TalonFXS - Minion | 13 | RoboRIO |
| LaserCAN top | Grapple Robotics - LaserCAN | 1 | RoboRIO |
| LaserCAN bottom | Grapple Robotics - LaserCAN | 0 | RoboRIO |
Controls
Driver
| Input Type | Function | Tap/Hold |
|---|---|---|
| Left Stick X | Field relative Y speed | N/A |
| Left Stick Y | Field relative X speed | N/A |
| Right Stick X | Robot rotation speed | N/A |
| Left Bumper | Extake coral | Hold |
| Right Bumper | Intake coral | Tap |
| A | Robot centric slowed driving | Hold |
| B | OTF to closest station | Hold |
| X | OTF to closest left reef | Hold |
| Y | OTF to closest right reef | Hold |
| POV Right | X swerve brake | Hold |
Operator
| Button ID | Function | Tap/Hold |
|---|---|---|
| 1 | Retract climb winch (Up) | Hold |
| 2 | Deploy climb | Tap |
| 3 | Extend climb winch (Down) | Hold |
| 4 | Check L4 slam | Hold |
| 5 | L4 Slam | Tap |
| 6 | Unbound | N/A |
| 7 | Arm L2 | Hold |
| 8 | Arm L3 | Hold |
| 9 | Arm L4 | Hold |
| 10 | Extake coral | Hold |
| 11 | Intake coral | Tap |
| 12 | Scooch coral upwards | Tap |
| 13 | Reset intake Y offset | Tap |
| 14 | Unbound | N/A |
| 15 | Decrease intake Y offset | Tap |
| 16 | Increase intake Y offset | Tap |