Team 2393 FRC Season 2025

Game manual: https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system

Software manual: https://docs.wpilib.org/en/stable/

• The "Introduction" has links to Java learning resources. See also Free Java Book
• See "Step 2: Installing Software", "WPILib Installation Guide".
• See "Basic Programming", "Git Version Control" for installing git

Get robot code

• Start "2025 WPILib VS Code". Invoke "View", "Command Palette...", "Git clone". Enter the URL https://github.com/team2393/FRC2025.git. For a target location, create a folder "git" in your home directory and place the git clone there. Select "Open" when then asked to open what you just fetched from git.
• "View", "Command Palette", "WPILib: Simulate Robot Code"
  • In simulation, use the menu "Network Tables", "Smart Dashboard" to show "Field", "DemoMechanism" and "Selectable Chooser".
  • Connect joystick and drive around in teleop
  • Select auto option and run it in autonomous

Timeline

• Start with the "WPILib Installation Guide" mentioned above. Read the Software manual. Read all of it until "Advanced programming". May skip the details about LabVIEW, python, C++ since we're using Java. Glance throught the Advanced programming section to at least know what's in there.

  Additional PID resources:

  • https://trickingrockstothink.com/blog_posts/2019/10/19/tuning_pid.html
  • https://trickingrockstothink.com/blog_posts/2019/10/26/controls_supp_arm.html

  Prepare for next season by using the 2025Beta release

  • Run Falcon and Pigeon with beta software
  • Port swervebot to beta software

• January 4: Kickoff, https://www.firstinspires.org/robotics/frc/kickoff, https://www.tnfirst.org/frc-events

  • Install 2025 version of WPILib, driver station, CTRE tools (Phoenix Tuner) on robots laptop
  • Run swervebot to kickoff software
  • Configure new radio for usage similar to original radio:
    • Connect via DS port and see http://radio.local
    • Upgrade firmware https://frc-radio.vivid-hosting.net/overview/upgrading-firmware
    • Configure SSIDadn 2.4 GHz password, enable 2.4 GHz wifi via DIP #3

• Throughout January & February

  • Program drive base (swervebot, new swerve module test setup) with current software
  • Tune drive base
  • Lift is functional, but brake for now always on
  • Support Lift's brake again. Only update config when brake mode needs to change
  • Prepare autonomous moves
  • Test any hardware that we'll likely use on the robot
  • Setup 2 cameras for April tag detection
  • If camera reports position, try CameraHelper to sync odometry
  • Attempt command to swerve & rotate such that heading of robot is perpendicular to tag
  • Prepare software for other robot components as they are defined & designed

• March

  • Test software for all robot components
  • Update autonomouse moves to include picking up game pieces etc.
  • Drive practice
  • March 30: STEM Dinner

• April 2-5: Competition, https://frc-events.firstinspires.org/2025/Events/EventList

PhotonVision Camera

Image Raspberry Pi with PhotonVision. Bootup with HDMI monitor connected to observe initial self-configuration. Reboot on robot network and navigate web browser on Laptop to http://photonvision.local:5800

Settings, Networking

• Set Team Number to 2393.
• Change IP Assignment Mode from DHCP to Static, set address to 10.23.93.12. (Static 10.TE.AM.6-19 are general purpose. 10.TE.AM.11 is often used for camera, leave that for Limelight)
• Leave "Hostname" as photonvision, or update CameraHelper to custom name.
• Press SAVE

From now on, access camera via http://10.23.93.12:5800

For more, see https://docs.photonvision.org/en/latest/docs/description.html, https://docs.limelightvision.io/docs/docs-limelight/getting-started/performing-charuco-camera-calibration