FTC Team 16322 Silver Storm Competition Code
The FTC 16322 2023-2024 Competition Code features a modular, command‐based architecture designed to manage both autonomous and teleoperated routines. It integrates advanced subsystems—including a drive train with real-time coordinate tracking, linear slide control, a precision manipulator, a unique paper airplane launcher, and vision processing using TensorFlow and AprilTag detection. These components work together to execute complex tasks such as navigating to specific field positions, scoring game elements, and responding dynamically during competition.
Key Code Snippet
The snippet below shows the core loop of the command scheduler that sequentially executes commands for autonomous operations (e.g., driving, manipulating game elements, and processing vision data):
public void run() {
// Ensure there are commands to run.
if (commands.size() == 0) {
return;
}
// Loop through and execute all commands in the scheduler.
for (Commands command : commands) {
command.run();
// Wait until the command has finished before proceeding.
while (opModeIsActive() && !command.isCommandFinished()) {
// Optionally, include a short delay or update telemetry here.
}
}
}
Relevant Links
Additional Information
The competition code is organized using an abstract command-based framework that schedules and executes individual routines—such as driving to a target position, raising the linear slides, or scoring game elements— in a sequential and modular fashion. Key features include:
- Autonomous routines that navigate complex field layouts with precision.
- Subsystem integration for reliable drive train, slide, and manipulator control.
- Advanced vision processing for real-time game element detection and analysis.
- A modular design that supports rapid iteration and on-the-fly adjustments during competitions.
This robust codebase was a critical component of FTC Team 16322 Silver Storm’s performance during the 2023–2024 season, enabling the team to tackle challenging field tasks with confidence and precision, helping them earn the Control Award and earn a seat at the State Championship.