Software for TechFire's 2017 Robot FireStorm

Notable software features

• Android ADB interface for phone vision - in addition to the Java bridge, our adb binary is patched to listen on 0.0.0.0 for all port forwards. This allows us to view the HTTP MjpegServer running on the phone from the driver station
• Embedded Jetty HTTP Server inspired by 254's 2015 code for debugging & tuning. We use this interface to set autonomous modes pre-match, tune constants without deploying code, and graph PID loops in real-time through websocket
• Fully automated shooting - Robot looks up shooter RPM from vision distance through a table
• Vision latency compensation
• Trapezoidal motion profiles for autonomous driving