Techknights 2024 Code

This code is for 2024 FRC Competition, CRESCENDO.

The code consists of Java using GradleRIO, WPIlib, Limelight, etc. Our robot uses swerve drive. You can find more below.:

Tools we use

Name	URL
GradleRIO	https://github.com/wpilibsuite/GradleRIO
WPILIB	https://github.com/wpilibsuite/allwpilib
Limelight	https://limelightvision.io/
TalonFX/Phoenix	https://v6.docs.ctr-electronics.com/en/stable/
REV Robotics	https://docs.revrobotics.com/docs/
FRC Driver Station (NI FRC Game tools)	https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html
Pathplanner	https://pathplanner.dev/home.html
Elastic Dashboard	https://github.com/Gold872/elastic-dashboard

Contributing

First of all, thank you for taking your time to look over the code and trying making this code better. There are guidelines when contributing be sure to read CONTRIBUTING.md

Getting Started

Cloning the repository

Exceptionally you download as zip as unzip.

To do this:

git clone https://github.com/Team334/R2024

Building

If you have wpilib vscode you can press the button in the top right corner (WPILIB Icon) and type build and you should see a option: WPILIB: Build Robot Code

If you running from a different ide:

Windows:

Command Prompt

gradlew build

Powershell

./gradlew build

Linux

chmod +x gradlew
./gradlew build

Alternatively you can run chmod +x gradlew && gradlew build

Note: chmod +x gradlew is giving it permission. Read more here.

Additonal Gradle Commands

All these commands are in the WPILIB (Icon) button (in the top right corner) options if you have WPILIB vscode.

Deploying

Deploying will build your code, and deploy it to the robot.

./gradlew deploy

(You have to be connected to the robot for this to work.)

Clean

This removes all cache (gradle default uses cache to rebuild) when gradle builds. This is to ensure your dependences/vendordeps work.

./gradlew clean

Debug

This outputs what is happening while its building and a good way to see what its doing.

./gradlew --debug

Scan

This is preferbly not used, it will scan the project and send all the data into a website where it will give a link to email to you.

./gradlew --scan [command]

You have to accept the terms to get the link.

Command can be like build, simulate, etc

Simulation

This is used to simulate the robot code and check if something is working right instead of deploying to check which might the robot go crazy.

./gradlew simulateJava

A debugging version of simulation (This builds slower):

./gradlew simulateJavaDebug

You have to enable desktop support. See more here