2019 Robot Code

Robot Code | Dashboard | Vision

Code for Team 1418's 2019 competition robot, which is so far unnamed.

Deploying onto the robot

Before deploying, you must install robotpy on your robot.

You may then deploy code at any time:

python3 robot.py deploy

During development of last year's robot code, we created a Bash script deploy.sh to automate some tasks related to code deploy. You can find that tool, dep, here. We recommend that you make use of it to simplify your deploy process and remove pesky steps like manually changing your WiFi network.

Testing/Simulation

You may run the pyfrc simulator to test this code thus:

python3 robot.py sim

Controls

We use three total joysticks to control the robot:

• 2 x Logitech Attack 3 (joystick_left and joystick_right)
• 1 x Logitech Extreme 3D Pro (joystick_alt)

Basic Setup

Setting up git hooks:

git hooks change the process of committing by adding processes before or after the process of committing. After cloning, you should run

./setup.sh

This will set up hooks to run tests before committing to help avoid easy-to-fix errors in the code.

Installing Dependencies

The requirements.txt file holds all of the programs and their versions needed to run this code. After cloning, run

pip3 install -r requirements.txt

Add --user at the end of that command if you do not have admin privileges.

In the tests folder there is another requirements file that needs to be run. To do so, run

pip3 install -r tests/requirements.txt

Add --user at the end of that command if you do not have admin privileges.

Changing your $PATH

Your $PATH is a variable that contains a bunch of different directories that are searched through when the computer is searching for an executable file. To run this robot code, $HOME/Library/Python/3.6/bin needs to be added to your $PATH. To do so, first run

cd ~/

This will bring you to your home directory. If you want to open up your .bash_profile (where the $PATH is stored, NOTE: The name of this file will likely change depending one's platform, chosen shell, terminal settings, etc.) using nano, run

nano .bash_profile

Once you have done one of these, add the following line of code to .bash_profile.

PATH=$PATH:$HOME/Library/Python/3.6/bin

This will save your changes. If you used nano, save your changes and exit with

ctrl + x

Next, activate your changes in nano with

source .bash_profile

To see if the changes took place, run

echo $PATH

When this is run, you should see the addition of Library/Python/3.6/bin at the end of your $PATH.

File Structure

robot/
	The robot code lives here.
    automations/
        Automatic scripts for performing common functions.
    autonomous/
        Autonomous modes.
    common/
        New robotpy components.
    components/
        Abstractions for major robot systems.
    controllers/
        Software implementations not corresponding to physical robot components.
tests/
	py.test-based unit tests that test the code and can be run via pyfrc.

Authors

• Erik Boesen, Programming Captain
• Andrew Lester
• Joe Carpenter
• Bobby Miller

Special thanks goes to Tim Winters, former 1418 Programming Captain, who tirelessly worked as a mentor to help us reach new heights with this year's robot code.

Licensing

In-season, use of this software is restricted by the FRC rules. After the season ends, the MIT License applies instead.