Code for FRC 2067's 2023 Robot for the game Charged Up
wpilib getting started covers how to wire and program a robot
documentation for software libraries and hardware we'll use:
2023 Game manual
The motors that move the robot chassis around the field.
Actuators:
Sensors:
A set of rollers on a arm that can extend & retract.
Mounted at the front of the chassis, for game piece acquisition from the floor.
Actuators:
Sensors:
Motors on the left and right of the intake assembly to extend and retract the intake roller assembly
We should set one up as a follower to the other so that the two motors stay synchronized
Mounted at the front of the chassis, along the ground. Aids in bringing the game pieces into the chassis.
Telescoping assembly. Extend to move game pieces away from chassis.
Actuators:
Sensors:
Game piece manipulator mounted on the arm
Actuators:
Sensors:
mechanism used to raise/lower arm assembly.
Brings game pieces to appropriate elevation for scoring
Actuators:
Sensors:
A rotating platorm on which the arm assembly sits.
Pivoting this platorm allows placing game pieces at scoring locations when the chassis isn't perfectly aligned.
Actuators:
Sensors:
Container for interacting with camera based sensor(s)
Download and Install the latest WPIlib 2023 release
.iso
file (e.g. WPILib_Windows-2023.1.1.iso
).WPILibInstaller.exe
fileOther tools you need should install:
You need this to control a robot (includes the driverstation application)
You can skip license entry / activation for the NI Vision component we won't
Open th driverstation and enter our team number (2067) from the Setup
Tab on the left (gear)
Software libraries for CTRE devices
Includes phoenix tuner for configuring/updating firmware on CTRE devices
Rev Hardware Client For upgrading firmware on REV Robitics devices
After installation, perform an update to download device firmwares so you'll have them avaialable later if you're not online (e.g. at a competition)
Install git bash
TODO
any additional setup steps - dry run on fresh install Create an account at github.com
, you should have recieved an invite at the email you used to register for slack.
The following steps will authorize vscode to access your github account through OAuth.
This is in place of setting up ssh keys. If you'd rather do that, feel free to do so.
Similar steps to what we're doing are covered here if the below isn't clear enough.
Open the 2023 WPILib VS Code
link (on your desktop?)
Click the Source Control
tab on the right ( Ctrl+Shift+G )
Click the Clone Repository
button
Command Palette
at the top middle. You will come to know this VS Code feature well...Clone from GitHub
optionChoose the applepi-2067/2023_Robot
project
Choose a directory to clone the project into that you will remember (e.g. Documents\FRC) a new subdirectory for the project will be created
The first time the project opens it should start downloading dependencies and building the code.
You should see the status of the build process listed at the bottom Terminal
panel in vscode
Most actions in vscode can be performed through the Command Palette
View
> Command Palette
Some example commands you can run from the Command Palette
Build Robot Code
- Compiles the code in the projectDeploy Robot Code
- Compiles, deploys, and runs the code on the roborio (you need to be connected)Simulate Robot Code
- Compiles, deploys and runs the code in simulation.