2022-RapidReact

Code for the FRC 1757 2022 Competition Bot

Installation

Visual Studio 2019 redistributable

vc_redist.x64

Python

3.9.6 amd64

VS Code

VS Code

FRC Game Tools

FRC Game Tools

FRC Radio Configuration Utility

FRC Configuration Utility

CTRE Phoenix

Phoenix Tuner

Setup

roboRIO

1. Image the roboRIO Imaging instructions
2. Configure the roboRio

   Item	Value
   Team number	1757
   Firmware	6.0.0f1
   Image	FRC_roboRIO_2021_v3.0
   Static IP	10.17.57.2
   Subnet Mask	255.255.255.0

Run Phoenix Tuner

Update device firmware

• PDP
• FalconFX
• CANCoder

Configure CAN devices

Device	Class	Range	ID
robo_rio	core	0 - 9	master (no ID)
pdp	core	0 - 9	0
pneumatic_hub	core	0 - 9	1
front_left_drive	motors	10 - 29	10
front_left_steer	motors	10 - 29	11
front_right_drive	motors	10 - 29	12
front_right_steer	motors	10 - 29	13
back_left_drive	motors	10 - 29	14
back_left_steer	motors	10 - 29	15
back_right_drive	motors	10 - 29	16
back_right_steer	motors	10 - 29	17
shooting_hood	motors	10 - 29	21
shooting_turret	motors	10 - 29	22
shooting_shooting	motors	10 - 29	23
left_climb_motor	motors	10 - 29	24
right_climb_motor	motors	10 - 29	25
front_left_encoder	sensors	40 - 59	40
front_right_encoder	sensors	40 - 59	41
back_left_encoder	sensors	40 - 59	42
back_right_encoder	sensors	40 - 59	43

Configure Pneumatic devices

Device	ID
left_climber_brake	0
right_climber_brake	1
right_climber_pivot_forward	2
left_climber_pivot_forward	3
intake_deploy	4
left_climber_pivot_backward	12
right_climber_pivot_backward	13

Configure network devices

Device	IP Address	Subnet Mask
OpenMesh radio	10.17.57.1	???.???.???.???
roboRIO	10.17.57.2	255.255.255.000
Driver Station (laptop)	10.17.57.5	255.000.000.000

Install robotpy

• IMPORTANT: Perform ALL operations in a python virtualenv

Create virtualenv (if not previously done)

Recommend placing the virtualenv in the mentorbot repo folder under .venv (to keep everything together) however the virtualenv is local to your system and should not be uploaded (ignored in .gitignore)

cd <path-to-mentorbot-repo>
py -3 -m venv ./.venv

Workflow

1. Activate virtualenv (Virtualenv activation may differ depending on your operating system and terminal)

   • Git Bash (Windows)

     source <path-to-mentorbot-repo>/.venv/Scripts/activate

   • normal bash (linux, macOS)

     source <path-to-mentorbot-repo>/.venv/bin/activate

2. Update pip and wheel. Old versions of pip can prevent binary wheels from being installed. Installing wheel makes other installs faster (must have internet connection)

   python -m pip install --upgrade pip wheel

3. Install / update robotpy (must have internet connection)

   python -m pip install -r requirements.txt

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)

4. Download python for roboRIO (must have internet connection)

   python -m robotpy_installer download-python

5. Download robotpy modules for roboRIO (must have internet connection)

   python -m robotpy_installer download robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)

6. Install python on roboRIO (must be connected to roboRIO)

   python -m robotpy_installer install-python

7. Upload robotpy modules to roboRIO (must be connected to roboRIO)

   python -m robotpy_installer install robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)

8. Deploy robotpy program

   • To robot (must be connected to roboRIO)

     python robot.py deploy

   • To simulator

     python robot.py sim

Steps to take when commiting

1. Make sure Pylint, Black and Prettier are installed

• Run Pylint in terminal and check for a help output. It should be autoinstalled with python.

pylint

• Run Black in terminal empty and look for "No path provided". If nothing happens, run the second command

black

python -m pip install -U black

1. Make Pylint happy

• Run Pylint on your files

pylint $(git ls-files "*.py")

• With the error "Method could be a function" on an isFinished in a command, add this command above it. If necessary, swap out "no-self-use" with whatever error it gives you at the end.

# pylint: disable-next=no-self-use

1. Formatting with Black and Prettier

• Run black on your files (autoformats). Also note that it can be configured to run on save of a file.

black .

-You also may need to format json files using Prettier. When opening a json file in VSCode, it should prompt you to download Prettier in a small window in the bottom right. If not, go to the extensions tab on the left and search "Prettier". The top result is it (about 19 million downloads)

1. Make sure it starts in sim and works as expected

• Should be obvious but make sure to do it

1. CODE FORMATTING PRACTICES
   • for python we are using black
   • for json we are using prettier
   • all JSON files must be alphabetized, you can use the following extension for prettier
   • If you're using VSCode, use json-sorter to sort the json without dealing with npm above json-sorter. Open command pallete in the file with ctrl+shift+p and type "alpha". "Sort JSON keys by alpha order" should show up, and hit enter to run it. Afterward, save to autoformat with prettier.