AutoFRC

This is a study into creating a fully automatic FRC robot.

This process relies on several key algorithms:

• pose estiation: using the WpiLib DifferentialDrivePoseEstimatorClass
• global position updates: I am using an algorithm called UcoSLAM that takes a camera feed and outputs position in 3d space
• pathing planning: Informed Random Rapidly Expanding Tree *
• Traveling Saleman searches to find the fastest way to collect multiple games objects
• HSV thresholding to detected yellow balls

Future potential features:

• robot detection (either ML or detect color of bumpers)
• intelligent defences
• avoiding moving obstancles while path planning
  • kalman filters