CRESCENDO Robot Code

Specs

• NEO V1.1 motors
• SparkMAX motor controllers
• SDS MK4i swerve modules
  • L2 gear ratio
  • CANCoder

Subsystems

• Swerve drivebase
• Elevator
• Arm
• Shooter
• Intake

Libraries

• YAGSL
• NavX
• PathPlannerLib
• Phoenix6
• REVLib

PathPlanner Path Naming Scheme

"FROM - TO"

Speaker

• SS - Source Side
• SM - Middle
• SA - Amp Side

Home

• H1 - Note closest to the amp
• H2 - Note in between amp and stage
• H3 - Note in front of stage post

Center

• C1 - Center note on amp's side
• C2 - Center note in between absolute center and C1
• C3 - Center note in the center
• C4 - Center note in between absolute center and C5
• C5 - Center note on source's side

PathPlanner Auto Naming Scheme

"STARTING POSITION - x note"

See the path naming scheme for starting position