FRC Team 340's code for the 2026 season, REBUILT.
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Auto-aim with Shoot On The Move
The robot aims and shoots at its current target with the press of a single button, and performs additional calculations to compensate for its movement. The robot's target automatically switches depending on its field position.
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Full Field Localization
Using a Luma P1 with a modified instance of PhotonVision, the robot combines vision measurements with odometry using a Kalman filter to accurately track its position on the field throughout the entirety of a match.
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On-the-fly Motion Planning with Obstacle Avoidance
The robot utilizes an artificial potential field to automatically servo to a specified pose, with the ability to avoid obstacles (i.e. field elements) in its path. This algorithm is used for all movement during the autonomous period.
