converted some RST to MD

docs/source/controls/FAQ-for-beginners.md

@@ -0,0 +1,25 @@
+  ------------------------------------------
+  FAQ and Getting Started with Programming
+  ------------------------------------------
+
+VS Code has some built in examples and templates to get you started. We
+have uploaded some of the Timed Robot examples and Command Robot
+examples to out Github page and compliled a list of other teams\' code
+[here
+\<https://cyber-coyotes-handbook.readthedocs.io/en/latest/controls/code-examples.html]().
+The FRC community is very good about helping each other.
+
+A few questions when helping new teams with code: ==== #. Are you using
+a Timed Robot or Command Based code setup? We use command based, but
+many teams starting out find it easier to used Timed because almost all
+of the coding is done in one file (Robot.java) #. What drivetrain are
+you using (mechanically)? I would guess Differential Drive for most
+teams, especially younger ones. #. What drive mode are you wanting to
+use? (tank vs arcade) Personal preference, but we recommend Arcade #.
+Have you thought about what physical game controllers (xBox, Flight
+joystick, etc) you have or want to use? Again, personal preference. #.
+Do you have your code posted on Github? Highly recommended. This will
+allow our team or other folks to view your code and offer assistance
+from affar. See the [Github
+tutorial](https://docs.github.com/en/get-started/quickstart/hello-world)
+for help getting started.

docs/source/controls/auton-pathplanner.md

@@ -0,0 +1,8 @@
+PathPlanner ==== We were unable to use PathPlanner with a SDS code-base
+during the 2022 season. We have had pre-season success using Bear drive.
+
+Resources \-\-\--\* [RDc12 -
+PathPlanner](https://github.com/RDc12Programming/PathPlanner) github \*
+[M Jansen4857](https://github.com/mjansen4857/pathplanner) github \*
+[Introoducing PathPlanner 2.0 -
+ChiefDelphi](https://www.chiefdelphi.com/t/introducing-pathplanner-2-0/397629).

docs/source/controls/code-examples.md

@@ -0,0 +1,57 @@
+  --------------------
+  Java Code Examples
+  --------------------
+
+Timed Robot EXAMPLES from VS Code \-\-\--#. [Tank Drive (Timed
+Robot)](https://github.com/CyberCoyotes/Example-TankDrive) #. [Arcade
+Drive (Timed
+Robot)](https://github.com/CyberCoyotes/Example-ArcadeDrive) #.
+[Pneumatics (Timed
+Robot)](https://github.com/CyberCoyotes/Example-Pneumatics)
+
+Command Based EXAMPLES from VS Code \-\-\--#. [Traditional
+Hatchbot](https://github.com/CyberCoyotes/2023-Example-TraditionalHatchbot).
+Although the \"Traditional Hatchbot\" uses pneumatics, in my opinion it
+is the most straight forward \"outline\" and the subsystem and commands
+can be adapted to motors by looking at the drive subsystem and drive
+commands. #. [Gears
+Bot](https://github.com/CyberCoyotes/2023-Example-GearsBot). #. [Command
+Robot \<https://github.com/CyberCoyotes/2023-Example-CommandRobot]().
+
+Command Based Examples from Teams \-\-\--#. Cyber Coyotes [Code
+Repositories](https://github.com/CyberCoyotes) \| [2021 Rapid React
+code](https://github.com/CyberCoyotes/2022-RapidReact). #. [Falcon
+Swerve](https://github.com/team364). #.
+[Bearswerve](https://github.com/6391-Ursuline-Bearbotics/BearSwerve)
+drive code #. [Swerve Drive
+Specialties](https://github.com/SwerveDriveSpecialties) drive code #.
+[Triple Helix](https://github.com/TripleHelixProgramming/offseason-2022)
+drive code
+
+FRC teams to follow \-\-\--The following includes some teams that have
+been very helpful to our learning.
+
+-   Citrus Circuits [Website](https://www.citruscircuits.org/) \| [2022
+    CAD and
+    Code](https://www.citruscircuits.org/2022-cad-and-code-release.html).
+-   Enginerds - Team 2337 [Github](https://github.com/Team2337/) \|
+    [2021 Skills
+    Bot](https://github.com/Team2337/2021-Skills-Bot/tree/main/src/main/java/frc/robot).
+-   Raptors - Team 1711 [Github](https://github.com/frc1711).
+-   NCGears - Team 1918 [Github](https://github.com/ncgears).
+-   Jack in the Bot - Team 2910 [Github](https://github.com/FRCTeam2910)
+-   Team Fusion - Team 364 [Github](https://github.com/team364)
+
+Tutorials \-\-\--#. Sen Sun [FRC 0 to
+Autonomous](https://www.youtube.com/channel/UCmJAoN-yI6AJDv7JJ3372yg).
+Helpful tutorials with video and code examples #. WPI Lib [Creating and
+Following a
+Trajectory](https://docs.wpilib.org/en/stable/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.html).
+#. Team 2910 [Path Viewer](https://github.com/FRCTeam2910/PathViewer).
+
+Things for us to Follow up \-\-\--#. Lamda Corps [2022 Rapid
+React](https://github.com/Lambda-Corps/2022_RapidReact) #. [FRC 6995
+NOMAD](https://github.com/frc6995) #. [Cyber
+Dragons](https://github.com/SOTACyberdragons/FRC-Robot-2020/blob/master/src/main/java/frc/robot/oi/limelightvision/limelight/ControlMode.java).
+#.
+<https://www.chiefdelphi.com/t/frc-95-the-grasshoppers-2023-build-thread/419845/>

docs/source/controls/command-and-declarative-programming.md

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+==== Command Based Programming ==== There are two approaches to making
+an FRC robot: **Imperative**, and **Command-Based**, of which we use the
+latter.
+
+Imperative \-\-\--Imperative is like designing a linear list of orders
+for the robot to follow. It\'s hard to properly communicate the
+differences between the two philopsophies in a tl;dr format, but the
+cliff notes are that Imperative is what most inexperienced people would
+default to. While it\'s easier in the very short term, the drawbacks are
+too large to be viable; added maintenience, dependency, and ambiguity in
+control flow are all reasons to avoid imperative.
+
+Command Based (and declarative) \-\-\--Command based is like designing a
+set of rules for the robot to follow. A quick distinction is in order:
+\"Command-Based\" refers to the way robot properties and actions are
+broken into **subsystems** and **commands**, with a large arsenal of
+classes and functions to help with the subsystems and commands.
+\"Declarative\" programming is the \~\~programming Paradigm\~\~ more
+sustainable, effective method of programming that goes with
+command-based like PB+J. For this reason, they will often be grouped
+together as simply \"Command-Based\" (occasionally, \"sane, functional
+human being code\")
+
+\# A quick table, summing up the uses \<table\> \<thead\> \<tr\>
+\<th\>Issue\</th\> \<th\>Imperative\</th\> \<th\>Command-Based +
+Declarative\</th\> \</tr\> \</thead\> \<tbody\> \<tr\> \<td\>Quick
+prototyping\</td\> \<td\>Good; makes it easy to prototype simple
+code\</td\> \<td\>Not needed; thinking about code structure for simple
+tests and whatnot isn\'t needed,\</td\> \</tr\> \<tr\>
+\<td\>dependence\</td\> \<td\>nightmarish; like soldering a lamp to a
+socket\</td\> \<td\>Non-existent (if you\'re smart) due to much more
+modular design\</td\> \</tr\> \<tr\> \<td\>Reading and
+comprehension\</td\> \<td\>Fine for short snippets of code, \<br\>but
+complex systems and developers will suffer greatly from the inherent
+\<br\>lack of clarity\</td\> \<td\>Easier to separate each function call
+and class into individual parts, \<br\>and debugging can be made much
+easier (if you\'re smart)\</td\> \</tr\> \<tr\> \<td\>Issuing Robot
+Orders\</td\> \<td\>Calling robot methods directly; easy to understand
+for a whole 5 seconds,\<br\>dependencies will FESTER\</td\> \<td\>Robot
+properties and actions are neatly fit into subsystems and commands,
+\<br\>allowing for greater control and mental ease\</td\> \</tr\> \<tr\>
+\<td\>reaction of pretentious team 1XX member\</td\> \<td\>dude what is
+this youre disgusting\</td\> \<td\>this is so good marry me\</td\>
+\</tr\> \</tbody\> \</table\>
+
+If you yet hunger for perfection beyond Declarative, check out the SOLID
+principles, one of the most popular set of guidelines for clean code out
+there. I would recommend watching Tim Corey\'s videos on the principles.
+They\'re boring as *redacted*, but they are presented carefully enough
+to actually teach. Another caveat is that he uses C#. Even though he
+uses a different language, the principles still apply in Java. Also, C#
+and Java are very similar in basic syntax, with differences you don\'t
+need to worry about yet.
+
+Resources \-\-\--1. [Command-Based
+Programming](https://docs.wpilib.org/en/stable/docs/software/commandbased/index.html)
+FIRST documenation 2. [FRC 0 to Autonomous: #5 Command-Based
+Robot](https://youtu.be/VoxeXqy1bdQ) video 3. [Overview - SwerveIO 5.0.2
+User Documentation](https://javadoc.bancino.net/SwerveIO/latest/)
+
+Trajectories \-\-\--1. [Trajectory Generation and Following with
+WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/index.html)
+FIRST documentation 2. [Introduction to
+PathWeaver](https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/pathweaver/introduction.html)
+FIRST documentation *Not using with Swerve* 3.
+[PathPlanner](https://github.com/mjansen4857/pathplanner/wiki) 4.
+[Ramsete
+Controller](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/ramsete.html)
+The Ramsete Controller is a trajectory tracker that is built in to
+WPILib. This tracker can be used to accurately track trajectories with
+correction for minor disturbances.
+
+Chief Delphi References \-\-\--1. [A Problem When Using Trajectory in
+Swerve](https://www.chiefdelphi.com/t/a-problem-when-using-trajectory-in-a-swerve-drive/395400)
+2. [Seeking Examples for Applying Trajectory Constraints to WPI
+Trajectory](https://www.chiefdelphi.com/t/seeking-examples-for-applying-trajectory-constraints-to-wpi-trajectory/392813)
+3. [Running Multiple Cameras - USB for front and back or side
+viewing](https://www.chiefdelphi.com/t/is-it-possible-to-have-two-cameras/338519/2)
+4. [3630 Stampede Robotics OffSeason Swerve Code
+release](https://www.chiefdelphi.com/t/3630-stampede-robotics-offseason-swerve-code-release/398713)
+5. AUTON help
+<https://www.chiefdelphi.com/t/motion-profile-in-swerve-autonomous-mode/398318/7>
+6. [Paper: 4 wheel independent drive & independent steering \"swerve\" -
+CD-Media:
+Papers](https://www.chiefdelphi.com/t/paper-4-wheel-independent-drive-independent-steering-swerve/107383)
+
+White Papers \-\-\--1. [Chimera\'s Swerve
+PDF](https://www.first1684.com/uploads/2/0/1/6/20161347/chimiswerve_whitepaper__2_.pdf).

docs/source/controls/conventions-style-guide.md

@@ -0,0 +1,3 @@
+  -----------------------------
+  Conventions and Style Guide
+  -----------------------------

docs/source/controls/ctre.md

@@ -0,0 +1,7 @@
+# CTRE
+
+Cross The Road Electronics links - [Official Phoenix Pro
+Documentation](https://v6.docs.ctr-electronics.com/en/2023-pro/index.html)
+
+See also [links on motion
+profiling](https://github.com/CyberCoyotes/Handbook/blob/main/docs/source/controls/motion-profiling.rst).

docs/source/controls/history-controls.md

@@ -0,0 +1,19 @@
+  ------------------------
+  Team History: Controls
+  ------------------------
+
+A little history about our controls approaches.
+
+2019 and Prior \-\-\--\* **Drivetrain**: Mecanum, tank drive,
+rhinotracks, or omni wheels combined with others depending on the game
+demands \* **Drive motors**: CIM motors mostly, switched to Falcons in
+2019? \* **Gyro**: NavX \* **Programming**: *Iterative* Java
+
+2022 Season Changes \-\-\--\* **Drivetrain**: MK3 swerve \* **Drive
+motors**: Falcon500 motors \* **Programming**: *Command based* Java
+adapted from SDS
+
+2023 Season Changes \-\-\--\* **Drivetrain**: MK4 swerve \* **Gyro**:
+CTRE Pigeon \* **Programming**: *Command based* Java adapted from
+[BearSwerve](https://github.com/6391-Ursuline-Bearbotics/BearSwerve)
+code base.

docs/source/controls/leds.md

@@ -0,0 +1,35 @@
+# LEDs
+
+There (seems to be) two approaches to controlling LEDs on a FRC robot.
+The REV Blinkin module or using the WPI Addressable with hooking up the
+LEDs directly to the Rio. The terms **individually addressable** is a
+reference to the ability of a program, app, or remote to make very
+specific changes to the LEDs themselves whereas WPI AddressableLED is
+program specific reference.
+
+Using a Blinkin \-\-\--#. [Blinkin LED Driver
+page](https://www.revrobotics.com/rev-11-1105/) and including the [PDF
+manual](https://www.revrobotics.com/content/docs/REV-11-1105-UM.pdf) #.
+[REV Robotics Blinkin Overview - YouTube
+\<https://youtu.be/wMdkM2rr1a4\>]{.title-ref} #. [Cyber Coyotes Blinkin
+Example](https://github.com/CyberCoyotes/LED-BlinkinExample). Based on
+Sonic Squirrels example, but updated for 2023 codebase. #. [Sonic
+Squirrels
+Example](https://github.com/FRC-Sonic-Squirrels/MinibotCode/blob/5b58f10ef78b79384b12a69ffbe3fcba4775bba1/src/main/java/frc/robot/subsystems/blinkin.java)
+#. [Mechanical Advantage
+Example](https://github.com/Mechanical-Advantage/RobotCode2022/tree/main/src/main/java/frc/robot/subsystems/leds)
+has Blinkin and Rio (Addressable) examples #. Chief Delphi
+[blinkin-led-programming](https://www.chiefdelphi.com/t/blinkin-led-programming/339003)
+#. Chief Delphi
+[rev-blinkin-led](https://www.chiefdelphi.com/t/rev-blinkin-led/396966)
+
+Using WPI Addressable \-\-\--#. [Addressable LEDs -
+WPILib](https://docs.wpilib.org/en/stable/docs/software/hardware-apis/misc/addressable-leds.html)
+#. [Mechanical
+Advantage](https://github.com/Mechanical-Advantage/RobotCode2022/tree/main/src/main/java/frc/robot/subsystems/leds)
+has Blinkin and Rio (Addressable) examples #. [Yeti
+Robotics](https://github.com/Yeti-Robotics/aurora-java-2022) #.
+[Ursuline
+Bearbotics](https://github.com/6391-Ursuline-Bearbotics/2022_UARobotics_Rapid_React/blob/master/src/main/java/frc/robot/subsystems/LEDSubsystem.java)
+#. Chief Delphi
+[addressableleds-and-rev-robotics-blinkin](https://www.chiefdelphi.com/t/addressableleds-and-rev-robotics-blinkin/375753)

docs/source/controls/limelight.md

@@ -0,0 +1,35 @@
+# Limelight
+
+\"Limelight is an easy-to-use smart camera for FRC.\"
+
+See the Official Limelight
+[docs](https://docs.limelightvision.io/en/latest/) and
+[downloads](https://limelightvision.io/pages/downloads) page. The [quick
+start](https://docs.limelightvision.io/docs/docs-limelight/getting-started/programming)
+is a good place to start
+
+## Links to Other Resources
+
+-   Limelight
+    [Post](https://www.chiefdelphi.com/t/limelight-2022-0-3-update/400306)
+    Chief Delphi
+-   [Basic Vision in FRC Programming -
+    YouTube](https://youtu.be/hk8yAgDogPE) Broward Botcats
+
+## AprilTags
+
+1.  [Tracking AprilTags with
+    Limelight](https://docs.limelightvision.io/en/latest/apriltags_in_2d.html)
+    hardware and software **RELEASED Jan 10, 2023**
+2.  [AprilTag Introduction -
+    WPILib](https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/index.html).
+
+## Code Examples
+
+1.  Lamda Corps [Limelight (vision)
+    Example](https://github.com/Lambda-Corps/2020InfiniteRecharge/blob/master/src/main/java/frc/robot/subsystems/Vision.java).
+2.  <https://www.chiefdelphi.com/t/frc-95-the-grasshoppers-2023-build-thread/419845/>
+3.  [FRC 2910
+    vision](https://github.com/FRCTeam2910/2023CompetitionRobot-Public/tree/main/src/main/java/org/frcteam2910/c2023/subsystems/vision)
+4.  [FRC 2910 - drive to scoring
+    location](https://github.com/FRCTeam2910/2023CompetitionRobot-Public/blob/main/src/main/java/org/frcteam2910/c2023/commands/DriveToScoringLocationCommand.java)

docs/source/controls/motion-profiling.md

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+Motion Profiling ====
+
+When controlling a mechanism, is often desirable to move it smoothly
+between two positions, rather than to abruptly change its setpoint. This
+is called "motion-profiling," and is supported in WPILib through the
+TrapezoidProfile class
+
+# WPI
+
+For a description of the WPILib motion profiling features used by these
+command-based wrappers, see [Trapezoidal Motion Profiles in
+WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/trapezoidal-profiles.html#trapezoidal-motion-profiles-in-wpilib).
+Note: The TrapezoidProfile command wrappers are generally intended for
+composition with custom or external controllers. For combining
+trapezoidal motion profiling with WPILib's PIDController, see [Combining
+Motion Profiling and PID in
+Command-Based](https://docs.wpilib.org/en/stable/docs/software/commandbased/profilepid-subsystems-commands.html).
+To further help teams integrate motion profiling into their
+command-based robot projects, WPILib includes two convenience wrappers
+for the TrapezoidProfile class: TrapezoidProfileSubsystem, which
+automatically generates and executes motion profiles in its periodic()
+method, and the TrapezoidProfileCommand, which executes a single
+user-provided TrapezoidProfile. [Motion Profiling through
+TrapezoidProfileSubsystems and
+TrapezoidProfileCommands](https://docs.wpilib.org/en/stable/docs/software/commandbased/profilepid-subsystems-commands.html)
+
+# CTRE
+
+-   [Motion Magic and other Motion
+    Profiling](https://docs.ctre-phoenix.com/en/stable/ch16_ClosedLoop.html)
+    with CTRE.
+-   [254](https://www.chiefdelphi.com/uploads/default/original/3X/a/b/ab808bbf5f212c6deba8565dac83852bbd9b4394.pdf)
+    PDF explaining motion planning
+-   [2019 Motion
+    Magic](https://docs.google.com/presentation/d/1zzMI3DW-elButNH0QLFdYnDyaIapeI-zZnv9CAC6WY8/edit)
+    slide presentation. Video of Corey Applegate (FRC 3244) [CTRE Motion
+    Magic](https://youtu.be/VQIgdLslU_E)
+
+Come highly recommended [Team 195- FRC Motion Control: part
+1](https://youtu.be/4rbT-oscpx0) BUT\... its from 2018 AND its 4.5 hrs
+long for both parts
+
+Additional Resources \-\-\--\* [Motion Profiling -
+wiki](https://github.com/CyberCoyotes/Handbook/wiki/Motion-Profiling)
+page \* [Telemetry
+docs](https://docs.wpilib.org/en/stable/docs/software/telemetry/index.html)
+docs page. \* [Control Modes Configuration for TalonFX and
+Falcon500](https://www.chiefdelphi.com/t/control-modes-configuration-for-talonfx-and-falcon500/374704/12)
+ChiefDelphi post.

docs/source/controls/path-planner.md

@@ -0,0 +1,25 @@
+# PathPlanner
+
+\"PathPlanner is a motion profile generator for FRC robots created by
+team 3015.\"
+
+It is available from the [github
+repo](https://github.com/mjansen4857/pathplanner) and in the Microsoft
+Store. The [wiki](https://github.com/mjansen4857/pathplanner/wiki) is
+kept up to date so I would check there for instructions and Chief Delphi
+for tips & clarifications.
+
+You must install
+[PathPlannerLib](https://github.com/mjansen4857/pathplanner/wiki/PathPlannerLib:-Installing)
+to generate your paths.
+
+`https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json`
+
+Just need the latest
+[release](https://github.com/mjansen4857/pathplanner/releases)?
+
+## Links
+
+-   [PathPlanner 2024
+    Beta](https://www.chiefdelphi.com/t/pathplanner-2024-beta/442364)
+    Chief Delphi discussion.