2025 Codebase for FRC Team 846

Overview

Key features will be posted here soon...

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
  • y2025
    • 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\math\collection.cc:11:0: warning: The function 'HorizontalDeadband' is never used. [unusedFunction]
src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]