Robot Base

1757 base swerve robot

Chief delphi form

The Blue Alliance

Website

Installation (for the average programmer)

Visual Studio 2019 redistributable

vc_redist.x64

Python

3.10+ amd64

VS Code

VS Code

Install robotpy

1. To save yourself from pain, run the following in your bash terminal:

   py -3 --version #or python3 --version

   MAKE SURE IT IS 3.10 OR ABOVE (if not, use the link above to get it)

2. Globally install pipenv (for the virual environment)

   py -3 -m pip install -U pipenv

3. Create virtualenv/sync from pipenv

   Try to install the packages using the following command, which will automatically create a virtual environment:

   pipenv sync

   If that does not work, instead manually create the environment by running

   cd <path-to-mentorbot-repo>
   py -3 -m venv ./.venv # wait until this is done and the terminal prompt comes back
   pipenv sync

   Also, be sure not to upload it when committing to the team github (it should already be blocked in .gitignore)

4. Update Dependancies (must have internet connection)

   pipenv update

5. Activate virtual environment (must have internet connection)

   pipenv shell

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

6. Deploy robotpy program

   And that's it! On your own machine, open the simulator to see if everything worked!

   • To robot (must be connected to roboRIO)

     python -m robotpy deploy

   • To simulator

     python -m robotpy 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

2. 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

3. 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)

4. 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

Advanced User Stuff (With robot electronics)

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 (note: outdated, just use a new version)
   Static IP	10.17.57.2
   Subnet Mask	255.255.255.0

Run Phoenix Tuner

Update device firmware

• PDH
• FalconFX
• CANCoder
• Pneumatics Hub

Configure CAN devices

Device	Class	Range	ID
robo_rio	core	0 - 9	master (no ID)
pdh	core	0 - 9	0
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
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 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

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

   python -m robotpy_installer download-python

2. 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)
3. Install python on roboRIO (must be connected to roboRIO)

   python -m robotpy_installer install-python

4. 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)