This repository is the robot code for Free of Charge#14523 for the Marvels Invitational 2023. This codebase implements InchWorm as its movement system. Below is a description of InchWorm.
InchWorm is an award-winning1 movement system developed by Free Of Charge over the 2022-2023 FTC POWERPLAY season. The goal of InchWorm is to make the process of coding autonomous as painless as possible. InchWorm uses pose exponentiation and forward kinematics in order to track the robot's position over time. Then, it uses PID controllers to respond to errors in this position.
This repository functions as a quickstart for new FtcRobotController projects integrated with InchWorm, similar to the roadrunner quickstart.
For any questions, please reach out to Plano West Robotics or create an issue on this repository.
Footnotes
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Control award at TX-North Semi-Regional South, Innovation Award at FIRST In Texas UIL State 6A Championship ↩