/2020-unified

One combined repository for Popcorn Penguins 6238 in the 2020 Infinite Recharge Season

Primary LanguageJava

2020-unified

One combined repository for Popcorn Penguins 6238 in the 2020 Infinite Recharge Season

This repository is now archived and read-only.

Run ./update in the root (2020-unified) directory to update all submodules (macOS/Linux only). To allow running the command without the ./, copy the update executable to /usr/local/bin/.

Table of Contents

  1. Installations
  2. Setup for Vision
  3. Sample Repositories
  4. Using WPILib and Visual Studio Code

Installations

Install tools in this order:

  1. WPILib
  2. LabVIEW
  3. FRC Game Tools
  4. FRC Radio Configuration
  5. 3rd Party Libraries
  6. Spark MAX Client

WPILib

(macOS/Windows/Linux, required)

Necessary to write & deploy code.
https://docs.wpilib.org/en/latest/docs/getting-started/getting-started-frc-control-system/wpilib-setup.html

LabVIEW

(Windows only, not recommended)

Necessary to do LabVIEW coding. Completely unnecessary for the Popcorn Penguins. If you decide to do this, you must do it before installing the FRC Game Tools and the 3rd Party Libraries. https://docs.wpilib.org/en/latest/docs/getting-started/getting-started-frc-control-system/labview-setup.html

FRC Game Tools

(Windows only, optional)

Necessary if you want to control the robot. https://docs.wpilib.org/en/latest/docs/getting-started/getting-started-frc-control-system/frc-game-tools.html

FRC Radio Configuration 20.0.0

(Windows only, optional)

Necessary to program the robot radios. https://firstfrc.blob.core.windows.net/frc2020/Radio/FRC_Radio_Configuration_20_0_0.zip

3rd Party Libraries

(macOS/Windows/Linux, required)

Offline installers are preferred (allows you to install once for all the robot projects you create)
https://docs.wpilib.org/en/latest/docs/software/wpilib-overview/3rd-party-libraries.html

Spark MAX Client

(Windows only, optional)

Necessary to configure Spark MAX's. https://www.revrobotics.com/sparkmax-software/#spark-max-client-application

Sample Repositories

List of repositories with example code:

Setup for Vision

The recommended method to run vision code is on a Raspberry Pi. However, if this is not a viable option, it is possible to run your code on a Mac or PC. To setup run environments, continue to the section corresponding to your use case.

  • Raspberry Pi
  • Further instructions to install on macOS, Windows, and Linux have been removed for now, as it is not clear whether those are efficient solutions to run the necessary tools for vision.

Raspberry Pi

Use balenaEtcher to flash a microSD card with the FRC Vision image, then connect to the Raspberry Pi. https://docs.wpilib.org/en/stable/docs/software/vision-processing/raspberry-pi/installing-the-image-to-your-microsd-card.html

Using WPILib and Visual Studio Code

Adding libraries to a WPILib project

  • Open an existing WPILib project or create a new one
  • Open the Command Palette (Cmd + Shift + P on macOS, Ctrl + Shift + P on Windows/Linux, or click the hexagon "W" icon in the top right)
  • Search for and run "WPILib: Manage Vendor Libraries"
  • Click "Install new libraries (Offline)"
  • Check the boxes next to the libraries you want to install (ex. "CTRE-Phoenix")
  • Click the blue "OK" button at the top right of the command palette dialog
  • Click "Yes" at the dialog asking to build the project
  • WARNING: In 2020, the WPILib-New-Commands library is added to command-based projects by default. Do not install both the WPILib-New-Commands and WPILib-Old Commands libraries in the same project.

Creating a WPILib project with unit tests using Visual Studio Code

  • WPILib > Create a new project
    • Cmd-Shift-P on macOS
    • Ctrl-Shift-P on Windows
  • Project attributes:
    • type: Template > Java > Command Robot
    • Select your folder in the "learn" directory
    • Ensure "Create a new folder" is checked
    • Project name: UnitTestCommand
    • Team number: 6238
    • Enable simulation and unit testing by clicking checkbox
    • Click "Generate Project"
  • Add the path to the test directory to the .classpath file

The .classpath file is in the topmost folder of the project. Since the filename starts with a . the file is hidden by default. It does not appear when you list the files using the ls command in the terminal or when browsing for files in VS Code. To make it appear in the terminal invoke ls with the -a flag: ls -a. To make it appear in the VS Code File open dialog box hit Cmd-Shift+.. Open the file and edit it to include the section below referencing the src/test/java.

echo '<?xml version="1.0" encoding="UTF-8"?>
<classpath>
        <classpathentry kind="src" output="bin/main" path="src/main/java">
                <attributes>
                        <attribute name="gradle_scope" value="main"/>
                        <attribute name="gradle_used_by_scope" value="main,test"/>
                </attributes>
        </classpathentry>
        <classpathentry kind="src" output="bin/test" path="src/test/java">
                <attributes>
                        <attribute name="gradle_scope" value="test"/>
                        <attribute name="gradle_used_by_scope" value="test"/>
                        <attribute name="test" value="true"/>
                </attributes>
        </classpathentry>
        <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11/"/>
        <classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
        <classpathentry kind="output" path="bin/default"/>
</classpath>' > .classpath
  • Close and reopen the folder in VS Code
  • Add the file src/test/java/frc/robot/MainTest.java:
package frc.robot;

import org.junit.*;

public class MainTest {

    @Test
    public void name() {
        Assert.assertEquals(2, 2);
    }
}
  • Add support for Mockito by adding the following lines to the build.gradle file
repositories { jcenter() }
dependencies {
  testImplementation 'org.mockito:mockito-core:3.+'
}