RobotCode2020

This is TRIGON 5990 robot code for the 2020 FRC season: INFINITE RECHARGE.

The code is written in Java and is based of WPILib Java control system.

Setup Instructions

General

1. Clone this repo
2. Run ./gradlew to download gradle and needed FRC/Vendor libraries
3. Run ./gradlew tasks to see available options
4. Enjoy!

Visual Studio Code (Official IDE)

1. Get the WPILib extension for easiest use from the VSCode Marketplace - Requires Java 11 or greater
2. In .vscode/settings.json, set the User Setting, java.home, to the correct directory pointing to your JDK 11 directory

Basic Gradle Commands

• Run ./gradlew deploy to deploy to the robot in Terminal (*nix) or Powershell (Windows)
• Run ./gradlew build to build the code. Use the --info flag for more details

Package Functions

• frc.robot

  Contains the robot's central functions and runs the robot main loop. It also contains control for the drivers.

• frc.robot.subsystems

  Contains code for subsystems. The subsystem are used by commands and the command scheduler for convenient control of the robot.

• frc.robot.commands

  Contains code for general commands that do not require a specific subsystem.

• frc.robot.components

  Contains code for sensors and solenoids used by the robot.

• frc.robot.motion_profiling

  Contains all motion profiling code used for autonomous driving. Trapezoidal motion profiles are used for smooth acceleration and minimal slip using ramsete controllers.

• frc.robot.util

  Contains a collection of assorted utilities classes used in the robot code. Check each file for more information.

• frc.robot.vision

  Contains various classes that help with tracking and following vision targets using limelight 2.