2024_Robot

Code for FRC 2067's 2024 Robot for the game CRESCENDO

Controller button map

Useful links:

• 2024 Game manual

• wpilib getting started covers how to wire and program a robot

  • Status Light Quick Reference - something is blinking at you... what does it mean?

• documentation for software libraries and hardware we'll use:

  • wpilib javadocs
  • Path Planner
  • Choreo
  • CTRE TalonFX motor controller code examples (motion magic, velocity control)
    • Closed loop primer
    • MotionMagic parameters / Pheonix Tuner video
    • CTRE Documentation
  • REV SPARK-MAX motor controller code examples (position control, velocity control)
    • REV SPARK-MAX documentation
  • Photonlib

Robot Subsystem Descriptions

Drivetrain

The motors that move the robot chassis around the field.

• Motors
  • 4x - Falcon500 swere modules (2 Falcon500s per module)
• Sensors
  • Pigeon IMU for measuring robot heading and pitch

Intake

Picks up game pieces off the ground. Hands them off to the hopper

• Motors

  • 2x Falcon 500
    • Velocity closed loop control

• Sensors

  • 1x IR Proximity Sensor

Shooter

Motors at the front of the shooter assembly that allow game pieces to be fired out of the robot.

• Motors
  • 2x - Kraken X60
    • Velocity closed loop control

Hopper

Brings in game pieces from the intake. Stores them until the shooter is ready to be fired.

• Motors
  • 1x - Falcon 500
    • tbd - Velocity closed loop control

Linear Lift

Moves the shooter assembly vertically to differnt heights

• Motors
  • 2x - Falcon 500
    • Motion Magic - position closed loop control

Shoulder

Rotates the shooter assembly to change pitch angle

• Motors
  • 1x - Falcon 500
    • Motion Magic - position closed loop control

Getting Started

Software installation

• Download and Install the latest WPIlib 2024 release

  • If you're on Windows, download the latest .iso file (e.g. WPILib_Windows-2024.1.1.iso).
  • While connected to the internet, open the ISO
    • run the WPILibInstaller.exe file
    • follow the on-screen instructions, to install vscode for your user

• Other tools you need & should install:

  • FRC Game tools

    • 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 the driverstation and enter our team number (2067) from the Setup Tab on the left (gear)

  • Radio configuration utility

  • Phoenix Framework Installer

    • Software libraries for CTRE devices
    • Includes phoenix tuner for configuring/updating firmware on CTRE devices

  • Phoenix Tuner X

    • install from windows or android app store

  • 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

  • Download the appropriate installer for your OS
  • Install following onscreen instructions
  • 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.

Clone this repo to your desktop

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 2024 WPILib VS Code link (on your desktop?)

• Click the Source Control tab on the right ( Ctrl+Shift+G )

• Click the Clone Repository button

  • This will open the Command Palette at the top middle.
    You will come to know this VS Code feature well...
  • Click the Clone from GitHub option
  • Follow the on-screen steps to authorize vscode to access your github account

• Choose the applepi-2067/2024_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

  • If the build fails, you may not have completed the installation of the Phoenix Framework Installer (above).

Using vscode

TODO: update for 2024

• Most actions in vscode can be performed through the Command Palette

  • Open with ( Ctrl + Shift + P ) or View > Command Palette

• Some example commands you can run from the Command Palette

  • Build Robot Code - Compiles the code in the project
  • Deploy 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.
    • You need to have the driverstation or simulated driverstation running to get into Auto or Teleoperated mode.
    • Requires simulation models to be implemented for verification of some functionality, but with a little work up front this can be a great way to test your code when you don't have access to robot hardware.
  • Complete list of commands here

Using git

• https://docs.wpilib.org/en/stable/docs/software/basic-programming/git-getting-started.html

TODO