FRC team 3512's 2013 robot

The source code for our 2013 FRC robot named Cynisca.

Setup

Install the relevant FRC toolchain for your platform (see https://github.com/wpilibsuite/allwpilib/releases). Make sure the toolchain is placed in ~/wpilib/2020/roborio (Linux) or C:\Users\Public\wpilib\2020\roborio (Windows).

Install the following OS packages.

• gcc >= 7.3.0
• python >= 3.6
• rsync (optional, for CSV logging)

Install the following python packages via pip3 install --user package_name.

• wpiformat (optional)
  • https://github.com/wpilibsuite/styleguide/blob/main/wpiformat/README.rst

We use the latest version of clang-format with wpiformat for C++ formatting.

Build options

Build everything

• ./gradlew build

This runs a roboRIO and desktop build and runs the desktop tests.

Deploy

• ./gradlew deploy

This runs a roboRIO build if needed, copies the resulting binary to a roboRIO at 10.35.12.2, and restarts it.

Documentation

• ./gradlew doxygen

This command generates HTML documentation for the robot code from in-source Doxygen comments. The results are placed in a docs/html folder with an index.html page as the root.

Autonomous mode selection

Open shuffleboard and select the desired autonomous mode from the dropdown menu. When the indicator next to the menu turns from a red X to a green checkmark, the robot has confirmed the selection.

See this for details on how the robot side works.