2024 Codebase for FRC Team 846

Overview

This codebase includes code for 846's robot in 2024, which competed at the SFR regional, the Idaho regional, and Sunset Showdown. The code controls a swerve-drive robot with a double-jointed telescoping arm, upon which a joint intake and shooter are mounted. Key features of this codebase include arm kinematics and inverse kinematics and shooting while moving code.

General Project Structure

Code subsystems interact with hardware subsystems by: 1. writing to motors and 2. receiving sensor data. Examples of code subsystems include: driver, pivot, intake.

Commands set targets to these subsystems. Some commands are like actions, such as moving the arm to a setpoint, or deploying the intake. Commands can be compounded to form more complex routines and autos.

• src
  • y2024
    • cpp
      • subsystems
      • commands
      • autos
      • main.cpp
      • FunkyRobot.cc
    • include
      • headers for all files in cpp
    • resources
      • miscellaneous, vision code
  • deploy
    • Nothing yet.
    • Any files placed in this directory will be put onto the RIO's file system during deploy.
    • These files can be accessed by robot code.
• frc846 (arch)
  • Contains motor control classes, logging classes, prefs, etc.
• build
  • tmp
    • Build Logs can be found here.
    • Generated by WPILib build tools, not us.

First Time Setup - Windows

--Downloads--

WPILib Tools

• Download WPILib tools and WPILib VSCode. Attached are links for versions 2024.3.1 and 2024.3.2.
  • 2024.3.1 WINDOWS
    • Use 2024.3.1 by default. Ask me before downloading 2024.3.2.
  • 2024.3.2 WINDOWS
• Once downloaded, double click on the file. By default, it will be saved in the downloads folder.
• Run the .exe file inside of it. It should be called "WPILib Installer".
• Go through the default setup process.
  • Install everything, NOT tools only.
  • When you get to the installation for WPILib VSCode, select "for this computer only".

Git

• Create a GitHub account (which you should already have if you can access this?).
  • If haven't already, send your username to me so I can add you to our organization. This allows you to modify/edit files.
• Download git-scm from here.
  • For most people, 64-bit standalone installer.
• Run the file downloaded.
• Go through setup process.
  • If unsure, select default options.

If unfamiliar with GitHub, go through tutorials in the Using Git section.

LLVM

• Download LLVM
  • Run the downloaded file, go through setup process.
• If "Add LLVM to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\LLVM\bin to PATH
  • Read this for more information on adding files to PATH.

CppCheck

• Download CppCheck.
• If "Add CppCheck to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\Cppcheck to PATH
  • Read this for more information on adding files to PATH.

--Setup--

• Clone the repository.
  • Run: git clone https://github.com/Team846/howler_monkey.git in terminal.
• Open WPILib VSCode
• In WPILib VSCode, open the folder containing the cloned repository.
  • The path will be path the clone command was run in + howler_monkey
• DO NOT change the gradle file. If WPILib VSCode prompts an update to the gradle file, click CANCEL.
• Click on the WPILib icon (the W in the top right corner).
• In the dropdown list, click on C++: Refresh C++ Intellisense.
• If it succeeds, the code has been successfully setup on your computer.
• Read the First Build section.

Deploying:

• When trying to deploy the code to the robot, connect to the robot using either an ethernet cable or by connecting to the radio's network.
• Then, run 'Deploy robot code'.

First Time Setup - MacOS

Read through the setup process on Windows. This section will only outline the differences. You may need to install homebrew.

--Downloads--

Select x64 or arm depending on your chip. If using M1/M2/M3 mac, select arm.

Ignore the LLVM section.

• WPILib 2024.3.1.
• WPILib 2024.3.2.
• git-scm.
• Clang-format: brew install clang-format
• CppCheck: brew install cppcheck

--Setup--

WPILib VSCode is installed in a hard-to-find directory on MacOS. It is usually located in ~/wpilib/202x/vscode/ and is called "Visual Studio Code". For example it can be located in /Users/funkymonkey/wpilib/2024/vscode. If you need help finding it, ask someone who has previously installed WPILib VSCode on MacOS.

It is a good idea to rename the file or move it into your Applications folder and pin it in dock for easy access and differentiation from normal VSCode.

WPILib VSCode will have a W icon in the top right corner, wherease normal VSCode will not.

First Build

• Click on the WPILib icon in the top right corner of WPILib VSCode.
• Click WPILib: Build Robot Code.
• If the code fails to build, it is most likely your fault. Fix the code you changed.
• If you didn't change anything, then ask me for help.

A first build can take over 10 minutes. Subsequent builds should be under 5 minutes.

Deploying Code to the Robot

• Get permission from a Software Lead.
• Connect to the robot's network or connect directly using an ethernet cable.
• Run WPILib: Deploy Robot Code.
• Do not disconnect, stop, or power-cycle the robot for any reason during the deploy. This may damage the RoboRIO.

Using Git

• What is Git?
• Configure
  • Only read the "Configure Git" section
• Commits
• Branches
• Branch merging
  • Not as important as the other ones

I have old code, I need to update it:

• git pull

I have new code which has been verified by a Software Lead. I need to give others access to it:

• git add . <-- The "." means all files
• git commit -am EXAMPLE_COMMIT_MESSAGE
• git push

I need to switch to a branch:

• git checkout -b NAME_OF_BRANCH <-- to create a new branch
• git checkout NAME_OF_BRANCH <-- to switch to an existing branch

I need to go back to a previous commit:

• git log
• Press SPACE to scroll down and Q (lowercase) to exit.
• Find the hash (the random series of characters/numbers) for the commit you want.
• git checkout HASH

To undo the going back:

• git switch - <-- goes back to latest commit

CppCheck Warnings

src/frc846/cpp/frc846/other/trajectory_generator.cc:68:18: warning: Consider using std::transform algorithm instead of a raw loop. [useStlAlgorithm]
src/y2024/cpp/commands/teleop/drive_command.cc:67:8: warning: Condition 'is_robot_centric' is always false [knownConditionTrueFalse]
src/frc846/cpp/frc846/util/math.cc:19:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
src/frc846/cpp/frc846/util/math.cc:46:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]

CppCheck Warnings

srcfrc846cppfrc846ntinffstore.cc:287:27: warning: Consider using std::any_of algorithm instead of a raw loop. [useStlAlgorithm]
srcy2024cppcommandsteleopdrive_command.cc:69:8: warning: Condition 'is_robot_centric' is always false [knownConditionTrueFalse]
srcy2024cppcommandsteleopdrive_command.cc:33:17: warning: Variable 'intaking' is assigned a value that is never used. [unreadVariable]
srcy2024cppfield.cc:9:16: warning: Variable 'point' can be declared as reference to const [constVariableReference]
srcy2024cppfield.cc:21:14: warning: Variable 'path' can be declared as reference to const [constVariableReference]
srcy2024cppfield.cc:10:32: warning: Consider using std::find_if algorithm instead of a raw loop. [useStlAlgorithm]
srcy2024cppfield.cc:22:29: warning: Consider using std::find_if algorithm instead of a raw loop. [useStlAlgorithm]
srcy2024cppfield.cc:67:10: warning: Consider using std::replace_if algorithm instead of a raw loop. [useStlAlgorithm]
srcy2024cppfield.cc:77:10: warning: Consider using std::replace_if algorithm instead of a raw loop. [useStlAlgorithm]
srcy2024cppfield.cc:60:10: warning: Consider using std::replace_if algorithm instead of a raw loop. [useStlAlgorithm]
srcfrc846cppfrc846mathcollection.cc:7:0: warning: The function 'DEquals' is never used. [unusedFunction]
srcfrc846cppfrc846mathcollection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
srcfrc846cppfrc846mathcollection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]