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Spartronics 4915's Test Bed 2022

Provenance

This set of Test Bed code was prepared from the Spartronics Template.

  • Updated WPILib to latest (as of 1.18.22 version 2022.2.1), and updated CTRE and REV Robotics libraries.
  • Forked the Template into 2022-Template, and cloned a local copy.
  • Copied the 'lib' portion of SpartonicsLib under 'Spartronics4915' in the cloned copy.
  • Based on a couple of pre-attempts, there seem to be a need for a lot of changes in the 'math' portion of the library, so removed the 'math' subdirectory.
  • Opened 2022-Template in WPILib VSCode, and performed the Gradle import - into 2022-TestRobot.
  • Worked through issues around changes between 2021 and 2022 in CTRE and REV Robotics library.
  • Removed 'estimator' subdirectory from SpartronicsLib section, as we're not using LIDAR at the moment.
  • Removed 'SpartronicsAnalogEncoder' for now - as there is an error on deprecated createDouble that is not clear how to resolve.
  • Added Troy's Joystick code.

Usage

Prerequisites

Ensure you have Java 11 installed on your computer and added to $PATH. Visual Studio Code, Git, and the WPILib extension are also helpful for development.

The (highly) recommended way to install these is through the WPILib installer.

Installation

Once your development environment is set up, clone this repository to your computer.

Run ./gradlew tasks to list available Gradle options.

Run ./gradlew build or use the WPILib extension's Build Robot Code option to build or compile the codebase.

Run ./gradlew deploy or use the WPILib extension's Deploy Robot Code option while connected to the robot to build and deploy your code.

Style Guide

  • Indentation: Four spaces, no tabs.
  • Braces: Each brace goes on its own line.
    • This is verbose, but intentionally so - brace errors are common, often difficult-to-diagnose, and have caused problems at bad times in the past.
  • Line length: Eighty characters or less, as a rule of thumb.
    • This improves legibility and makes it easier to view files side-by-side.
    • The formatter doesn't actually enforce this until lines are 120 characters, to give you flexibility around how you'd like to wrap your lines.
  • Variable names: camelCase.
    • Member variables: Prefix with m, ex. mMemberVariable.
    • Final constants: Prefix with k, ex. kFinalConstant.
    • Parameters: No prefix.
  • Class and file names: PascalCase.
  • Folder names: lowercase.
  • Package structure: com.spartronics4915.frcXXXX

(differences from WPILib are in bold)

A relatively unopinionated Eclipse-style formatter is included in the .settings folder. This can be run at any time by opening Visual Studio Code's Command Palette (Ctrl+Shift+P) and selecting Format Document.