mentorbot

Code for the FRC 1757 teaching platform robot

Installation

Visual Studio 2019 redistributable

vc_redist.x64

Python

3.9.6 amd64

VS Code

VS Code

FRC Game Tools

FRC Game Tools

CTRE Phoenix

Phoenix Tuner

Setup

roboRIO

1. Image the roboRIO Imaging instructions
2. Configure the roboRio

   Item	Value
   Team number	1757
   Firmware	6.0.0f1
   Image	FRC_roboRIO_2021_v3.0
   Static IP	10.17.57.1
   Subnet Mask	255.255.255.0

Run Phoenix Tuner

Update device firmware

• PDP
• FalconFX
• CANCoder

Configure CAN devices

Device	Class	Range	ID
robo_rio	core	0 - 9	master (no ID)
pdp	core	0 - 9	0
front_left_drive	motors	10 - 29	10
front_left_steer	motors	10 - 29	11
front_right_drive	motors	10 - 29	12
front_right_steer	motors	10 - 29	13
rear_left_drive	motors	10 - 29	14
rear_left_steer	motors	10 - 29	15
rear_right_drive	motors	10 - 29	16
rear_right_steer	motors	10 - 29	17
front_left_encoder	sensors	40 - 59	40
front_right_encoder	sensors	40 - 59	41
rear_left_encoder	sensors	40 - 59	42
rear_right_encoder	sensors	40 - 59	43

Install robotpy

• IMPORTANT: Perform ALL operations in a python virtualenv

Create virtualenv (if not previously done)

Recommend placing the virtualenv in the mentorbot repo folder under .venv (to keep everything together) however the virtualenv is local to your system and should not be uploaded (ignored in .gitignore)

cd <path-to-mentorbot-repo>
py -3 -m venv ./.venv

Workflow

1. Activate virtualenv (Virtualenv activation may differ depending on your operating system and terminal)
   • Git Bash (Windows)

     source <path-to-mentorbot-repo>/.venv/Scripts/activate

2. Install / update robotpy (must have internet connection)

   py -3 -m pip install -U robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)
3. Download python for roboRIO (must have internet connection)

   py -3 -m robotpy_installer download-python

4. Download robotpy modules for roboRIO (must have internet connection)

   py -3 -m robotpy_installer download robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)
5. Install python on roboRIO (must be connected to roboRIO)

   py -3 -m robotpy_installer install-python

6. Upload robotpy modules to roboRIO (must be connected to roboRIO)

   py -3 -m robotpy_installer install robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)