2025 Reefscape Code for The Boba Bot's Mana-TEA

This repository holds the robot code for FRC team 253's on-season and offseason robot.

Capabilities at a Glance:

Reef Contributions

• Coral Scoring on L1, L2, and L3
• Human Player Only Funnel Intake
• Teleoperated Stats (from Capital City Classic):

L1	L2	L3	Avg
1.5	4.5	5.2	9.5

Algae Contributions

• Dealgify Low and High
• Removed Algae remains on the ground

Barge Contributions

• Endgame Park

Auto Routines

• For Points: 2 Piece - L2 Rush targeting reef branches closest to driverstation, cycling on the sides of HP station to avoid collision with alliance partners
• For Auto RP: 1 Piece - L2 Any branch on reef backside, timed stagger optional.

Vision

• 2x Limelight 4
• Basic MT1 measurements fused with wheel odometry for pose correction.
• PID based Pathfind-To-Pose command used for Reef Auto-Align.

2025 Season Performance Recap:

• TOURNAMENT WINNERS - Capital City Classic - Alliance 3
• ELIMINATED IN ROUND 3 - Calgames - Alliance 4
• Rank 34/35 - Pinnacles Regional
• Rank 25/55 - East Bay Regional

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Additional Information:
Team Website! : https://www.bobabots253.org/