Reefscape 9770

todo

• update autos with intake control too
• check timed auto distances and turn directions
• add support for partner controller too

Controller Cmd Programming

• you can either create a command on the fly based on a function given in a subsystem
• you can use a command version of a controller to bind a button command to a given command

WPILib Shortcuts

• deploy code: shift + fn + f5
• command palette: ctrl + shift + p

FRC Driver's Station vs. Coding Laptop

• driver's station computer is configured to so that the software will only work when it is connected to the competition controller (not suitable for testing in the pit)
• coding laptop does not require auth from field controller to use the driver's station laptop (suitable for testing in the pit)
• coding laptop may have some trouble connecting wirelessly to radio once it is put into compeition code, so it's best to have physical tether for code uploading

FRC Software Tools Debugging

• run Driver's Station as admin always
• open settings in lower driver's station window and select 9770-frc (may not auto-connect during first attempt)
• disable anti-virus (uninstall)
• NI software installer had to be opened in admin mode

RoboRIO Debug

• ping 172.22.11.2 to check if usb comms with roboRIO is live
• open the roboRIO imaging software and check if we can see the team #
• test deploy from WPILib project

CAN Motor Configurations

(deprecated: instead, we should set configs in code, otherwise you will lose them each time you upload the code) Configs from REV Hardware Client connected to SparkMax Speed Controllers via USB-C with power from PDH turned off

{
    "[RB - MO1] ID 1": {
        "MotorType": "Brushed",
        "IdleMode": "Coast",
        "SmartCurrentLimit": "80",
        "Primary Sensor Type": "Quadrature",
        "EncoderCountsPerRev": "1",
        "StickyFaults": ["GateDriverFault or 12V Missing"]
    },
    "[RF - MO2 - HasEncoder] ID 2": {
        "MotorType": "Brushed",
        "IdleMode": "Coast",
        "SmartCurrentLimit": "80",
        "Primary Sensor Type": "Quadrature",
        "EncoderCountsPerRev": "1024",
        "StickyFaults": ["GateDriverFault or 12V Missing"]
    },
    "[LB - MO3] ID 3": {
        "MotorType": "Brushed",
        "IdleMode": "Coast",
        "SmartCurrentLimit": "80",
        "Primary Sensor Type": "Quadrature",
        "EncoderCountsPerRev": "1",
        "StickyFaults": ["GateDriverFault or 12V Missing"]
    },
    "[LF - MO4 - HasEncoder] ID 4": {
        "MotorType": "Brushed",
        "IdleMode": "Coast",
        "SmartCurrentLimit": "80",
        "Primary Sensor Type": "Quadrature",
        "EncoderCountsPerRev": "1024",
        "StickyFaults": ["GateDriverFault or 12V Missing"]
    },
    "ID 5": {
        "MotorType": "NEOBrushless",
        "IdleMode": "Brake",
        "SmartCurrentLimit": "80",
        "Primary Sensor Type": "Hall Sensor",
        "StickyFaults": ["GateDriverFault or 12V missing", "Sensor Fault"]
    }
}

Spotless Formatting

Applied in build.gradle within plugins and spotless configuations

Manual Commands

# check all files with spotless configs
./gradlew spotlessCheck

# format only java files
./gradlew spotlessJavaApply

# format all files
./gradlew spotlessApply

# misc files
./gradlew spotlessMiscApply

Automating Commands

# added to
tasks.named('compileJava') {
    dependsOn 'spotlessApply'
}

Windows Development

• screenshot: win + shift + s