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🚀 FTC Team 27570 - DECODE | Season Repository (2025-2026)

Team Number Season Status License

Repository Notice: This is the official code archive for Team 27570 DECODE's 2025-2026 DECODE™ presented by RTX season. This codebase powered our robot to break world records and qualify for the Houston World Championship.

仓库声明：本仓库为 FTC 27570 DECODE 战队 2025-2026 DECODE™ 赛季的官方代码存档。这套控制系统帮助我们打破了世界纪录并成功晋级休斯顿世锦赛。

🏆 Season Achievements / 赛季荣耀

This season, DECODE pushed the limits of software and hardware integration in the DECODE arena: 本赛季，DECODE 在 DECODE 赛场上挑战了软硬件结合的极限，取得了以下成就：

  • 🥇 World Record Holder (Highest Scoring Match in Elimination) | 世界纪录保持者
  • 🥈 China National Championship - Inspire Award 2nd Place | 中国区总决赛 启发奖第二名
  • 🏆 Regional Qualifier - Winning Alliance Partner | 资格赛 冠军联盟队友
  • 🥇 Regional Qualifier - Inspire Award 1st Place | 资格赛 启发奖第一名
  • 🎟️ 2025 Houston World Championship Qualified | 2025 休斯顿世锦赛晋级战队

🧠 Software Architecture / 软件架构概览

Our control system is designed to master the DECODE game mechanics: Artifact Classification, Pattern Building, and Gate Management. 我们的控制系统专为掌控 DECODE 比赛机制而设计：包括文物（Artifact）分类、图案（Pattern）构建以及闸门（Gate）管理。

Core Technologies / 核心技术栈

  1. PedroPathing for Dynamic Navigation:
  • Optimized paths to navigate between the Loading Zone and Goal while avoiding the Secret Tunnel traffic.
  • Uses Bezier Curves to maintain high velocity while launching Artifacts into the Goal's top opening.
  • 技术解析：利用 PedroPathing 规划从装载区（Loading Zone）到得分目标（Goal）的高速贝塞尔曲线路径，在避开秘密通道（Secret Tunnel）拥堵的同时，保持发射所需的动能。
  1. Motif Decoding & Pattern Logic:
  • Obelisk Vision: Automatically decodes the randomized Motif (e.g., GPP, PGP) using AprilTags (ID 21-23) on the Obelisk during Auto.
  • Artifact Sorting: The SmartColorSorter pipeline identifies Purple and Green Artifacts to ensure they are loaded onto the Ramp in the correct sequence to maximize Pattern Points.
  • 技术解析：自动阶段通过识别方尖碑（Obelisk）上的 AprilTag 解码图案（Motif），结合机器视觉识别紫色和绿色文物（Artifact），确保落入坡道（Ramp）的顺序完美匹配图案得分。
  1. Shooter PIDF & Trajectory Control:
  • Since DECODE requires launching Artifacts into the Goal, we use a tuned PIDF controller (SHOOTER_F, SHOOTER_P) to maintain constant RPM under rapid fire.
  • Slew Rate Limiter: Protects the motors during the frequent spin-up/spin-down cycles required between the Loading Zone and Launch Zone.
  • 技术解析：鉴于本赛季需要将文物发射进球门，我们采用了高精度的 PIDF 闭环控制维持飞轮转速，并增加了转换率限制器（Slew Rate Limiter）以保护电机应对频繁的加减速。
  1. Gate & Classifier FSM:
  • Automated GATE management ensures Artifacts are retained on the Ramp for Pattern validation and released efficiently to avoid Overflow.
  • 技术解析：通过状态机（FSM）自动化管理分类器（Classifier）和闸门（Gate），确保文物在坡道上正确排列以验证图案，并在合适的时机开启闸门避免溢出（Overflow）。

🤖 Autonomous Breakdown / 自动阶段详解

Strategies are designed based on the Motif and Alliance starting position (Red/Blue). 策略基于场上的图案（Motif）和联盟颜色（红/蓝）动态调整。

📂 Key Classes & Strategies

1. Red3Gate / Blue3Gate (High Scoring)

  • Objective: Score Preload + 3 Cycles + Pattern + Base Park.
  • Logic Flow:
  • Decode: Reads Obelisk (Tag 21/22/23) to determine the Pattern (e.g., Green-Purple-Purple).
  • Launch: Moves to Launch Zone and fires preloaded Artifacts.
  • Intake & Sort: Cycles to the Spike Marks or Loading Zone, intakes Artifacts, and uses the MOZART mechanism to sort/reject wrong colors based on the active Motif.
  • Gate Crash: Intentionally impacts the Gate mechanism (as permitted by physics) to release the Ramp stack efficiently (Path5, Path10).
  • 亮点：利用 Path5 和 Path10 的路径规划，在高速运动中完成撞击开门动作，极大缩短了从分类（Classifier）到清空坡道（Ramp）的时间。

2. Blue2Gate (Reliability)

  • Objective: Consistent 2 Cycles + Pattern validation.
  • Adaptation: Skips the risky 3rd cycle gate interaction. Instead of clearing the ramp, it focuses on filling the Depot or securing the Base Zone points.
  • 亮点：在防守严密或机构疲劳时使用的稳健策略，放弃第三次开门风险，转而确保护送机器人返回基地（Base）。

3. FarAutoCycle

  • Objective: Cross-field traversing from the far side.
  • Logic: Navigates through the Secret Tunnel Zone (if clear) or around the perimeter to collect distant Artifacts.

🎮 TeleOp Breakdown / 手动阶段详解

Class: TeleOpProMax

🚀 Key Features

  1. Artifact Launch Assist:
  • One-touch macros (D-Pad) to set Shooter RPM for specific distances (Launch Line vs. Depot).
  • Feedback: LED Module flashes Green when the Ramp has 9 Artifacts (Full Pattern) and Red if Overflow is detected.
  • 技术解析：通过 D-Pad 预设发射转速。当自定义传感器检测到坡道积满9个文物（图案完成）时，LED 模块闪烁绿色；检测到溢出（Overflow）时闪烁红色。
  1. Field-Centric with IMU Lock:
  • Crucial for the DECODE field geometry. The driver controls the robot relative to the Alliance Area, while the IMU locks the heading towards the Goal for consistent launching.
  • 技术解析：针对 DECODE 场地几何形状，采用场地位移控制。无论车头朝向何处，推杆方向永远相对于联盟区域（Alliance Area），并利用 IMU 将射击角度锁定指向球门。
  1. Gate & Ramp Automation:
  • Automated sequence to Open Gate -> Agitate Ramp -> Close Gate to quickly clear Classified Artifacts and reset for the next Pattern.

⚙️ Hardware Map / 硬件配置表

🔌 Motors (Control Hub & Expansion Hub)

Device Name Motor Type Function / 功能 (DECODE)
LeftFrontDrive... GoBilda 312 Mecanum Chassis
SH / HS GoBilda 6000 Dual Flywheel Launcher (Artifact Shooter)
Intake Matrix Active Intake (Collection from Floor/Spike)
MOZART Matrix Blender/Feeder (Sorting into Classifier)

🔌 Servos & Sensors

Device Name Type Function / 功能 (DECODE)
Hold CRServo Gate Release / Trigger Mechanism
RP / LP Servo Launcher Angle Adjustment
juju Digital Ramp Entry Sensor (Beam Break)
bigjuju Digital Overflow Sensor (Detects >9 Artifacts)
imu Internal Robot Heading (Yaw)
leddd I2C Device Custom Feedback Driver (Status Indicators)
ClassifyCam Webcam Artifact Color & Obelisk Detection

📦 Installation / 安装指南

  1. Clone: 
    git clone https://github.com/BlueDarkUP/FTC-27570-DECODE.git
  2. Prerequisites:
  • Android Studio (Hedgehog or newer).
  • PedroPathing Library (Included).
  • OpenCV dependencies (Check build.gradle).
  1. Deploy:
  • Connect to Control Hub via Wi-Fi.
  • Build & Run.
  • Configuration: Ensure Hardware Map matches the table above exactly.

👥 Credits / 致谢

  • Team 27570 DECODE Members: For decoding the game and encoding the victory.
  • PedroPathing: For the smooth path generation.
  • FIRST & RTX: For the incredible DECODE season experience.

Repository Archived. This code represents our state at the conclusion of the 2025-2026 Season.

Created with ❤️ by DECODE. Houston 2026, here we come! 🚀