FRC 2020

Team 7721's FRC Code for infinite recharge.

Read this

When in doubt, Actually read the guides and this readme.

Highlights

• [x] fancy joy joystick curve/deadzone
• [x] storing callibrations locally on roborio
• [x] fully automatic scoring with vision

Frequently used

Setups

• I havn't done anything at all, How do I get started?
• How do I install shuffleboard / pathweaver?

⠀

• Raspberry Pi stuffs
• chameleon Vision stuffs
• Pixy Cam stuffs

Other

• Trello Board
• Lessons learned/Solutions to niche problems

Getting Started

The Basics

1. Setting up your environment
   • Install WPILib: Installation Guide
     • Needed for programming, building prorgams and settings up projects
     • Includes JDK, VSCode and a bunch of stuffs

Or

1. Setting up your environment
   1. Install JDK: Download Link
      • Needed for java programming
      • Select the newest OpenJDK version and "HotSpot" JVM
      • Download and install
      • Make sure "Set JAVA_HOME variable" is turned on when installing
   2. Install VSCode: Download Link
      • Needed for programming
   3. Intalling the Java Extension Pack
      • Needed for java programming in vscode
      • Press Ctrl + Shift + X in VSCode to open the extension tab, search for "Java Extension Pack" and install it
   4. Install the WPILib VSCode extension: Download Link
      • Needed for FRC Robot Programming
      • Same process as above
2. Install FRC Game Tools: Download Link.
   • Needed for connecting to the robot
   • Watch out that the installer will disable windows fast start by default.
     • I havn't noticed any issue having windows fast start kept on.
   • When rompted to enter a NI account or serial code, simple cancel/close/skip
3. Install CTRE Phoenix Framework: Installation Guide
   • Needed for using motor controllers in your program
   • The name is something like "CTRE Phoenix Framework Installer 5.17.3.1 (.zip)"
4. Adding the CTRE Phoenix Library to your new project: Guide
   • If you are not creating a new project, and is cloning this one instead, there's no need to do this as it's already done.

Tools

Getting tools like pathweaver, smartdashboard, shuffleboard, etc.

1. Press f1 in vscode
   • If you are on a laptop and F1 does some other random stuff, try holding down the "FN" key while pressing F1
2. Search for WPILIB: Start Tools by typing this in the bar that just appeared.
3. You'll probably get prompted that you don't have any, proceed with the option that downloads you them.
4. Wait......
5. After installation, try to run WPILIB: Start Tools again and start any random tool, if prompted "A Java Exception has Occured"
   1. install JDK 13(The Basics, 1,i)
   2. Search for and open "advanced system settings" on your laptop
   3. Open "Enviromental Variables" in "advanced system settings"
   4. Find/Create a variable called JAVA_HOME in "System Variables", setting the value to the path to your jdk 13
      • Looks something like this: C:\Program Files\Java\jdk-13.0.1

Lessons learned

Don't put println() in execute()/periodic()

Printing out too much stuff too fast causes (around 30 characters per 20ms cycle) will cause driver station (version 20) to use up 30%+ cpu (on a plugged in i5-8265U) and gets extremely laggy, then die completly.

It will also cause driver station to show [red|green] for "communication, and thinking that the roborio has been emergency stopped.

Use smart dashboard/network tables for debugging instead of println().

Disable all network adapters except ethernet when imaging the radio

Kill the ShuffleBoard before every deploy else it would be stuck on the last build

Vision

Setting up the raspberry pi

Guide for Installing Raspbian Buster Lite on your raspberry pi

After installation, put an empty file with no file extension named ssh into the root of the boot to enable ssh for headless setup.

Power on the raspberry pi, then connect it to your computer through an ethernet cable.

ssh into the raspberrypi by running the command ssh pi@raspberrypi, then yes, then enter the default password raspberry

Guide to Settings WiFi up via the command line

For school Wifi, open the wpa-supplicant configuration file in nano (a code editor) by running:

sudo nano /etc/wpa_supplicant/wpa_supplicant.conf

and put this in there, replacing the [student#] and [student password] with actual student number and password:

network={
        ssid="YRDSB-S"
        scan_ssid=1
        key_mgmt=WPA-EAP
        eap=PEAP
        identity="[student#]"
        password="[student password]"
        phase1="peaplabel=1"
}

Setting up chameleon vision

Official guide for setting up chameleon vision

The raspberry pi must be connected to the internet through ethernet during install/update

Run these commands on the raspberry pi, not your own computer, to do stuffs:

To install:

wget https://git.io/JeDUk -O install.sh
chmod +x install.sh
sudo ./install.sh

To run:

sudo java -jar chameleon-vision.jar

To update:

wget https://git.io/JeDUL -O update.sh
chmod +x update.sh
sudo ./update.sh

Guide to make stuffs (in this case, chameleon vision) run on boot

To connect to the web dashboard of chameleon vision, put http://raspberrypi:5800/ in your browser. Make sure your computer and the raspberrypi are under the same network.

School wifi blocks a lot of ports and won't work, connect the raspberry pi directly to your laptop through ethernet or the roborio wifi to test chameleon vision

Setting up pixy cam

Guide for setting up pixy cam