WildStang Robot Framework

This is the core framework for WildStang's FRC robot software development. Example robot code can be found in examples. Prior to 2022 the latest version of the robot framework could be found in the latest 20XX_robot_software repo. This repository is the primary working space for the framework, all future robot software repos should fork it.

This repo contains 2 components to the "framework". First, it contains the actual robot framework which acts as the control layer of the robot software. It connects all the pieces together, but does not interact with any hardware on either side. Second, there is the hardware component, it implements others' APIs to connect the hardware to the framework. The framework for this reason should not import any external libraries for specific robot functions, such as WPILib. The framework may import libraries for utility purposes, in this case WPILib's Timer is okay.

Robot Framework Initialization

In order to create a new code base for a new robot follow these steps:

1. Fork this repo into a 20XX_robot_software repo
2. In src/main/java/org/wildstang/ duplicate sample to year20XX
3. Rename package accordingly in each class and ROBOT_MAIN_CLASS in build.gradle
4. Update edu.wpi.first.GradleRIO version in build.gradle to latest WPILib version
5. Update frcYear in settings.gradle to competition year
6. Update projectYear in .wpilib/wpilib_preferences.json to competition year
7. Update teamNumber in .wpilib/wpilib_preferences.json if necessary

Fork Script

The fork.sh script automates much of the forking process. To fork a given branch to a given repo run the following:

robot_framework/fork.sh [repo] [branch]

Note, if you are looking to fork the framework to a non-WildStang owned repo you must edit the GITHUB variable in the script.

The script will automatically update the year across the project if the new repo is named 20XX_.... To automatically push these changes append a third argument push to the command.

The fork script can also be used to keep your fork up-to-date with the latest changes on a given branch of the framework, simply run:

./fork.sh update [branch]

Again, to automatically push these changes append a third argument push to the command.

Setting up software

• GitHub Desktop
  • Download
• VS Code and other required components
  • Instructions
  • Download
• Driver Station and Utilities
  • Instructions
  • Download
• RoboRIO Imager
  • Instructions
  • Included with Driver Station
• Radio Configuration Utility
  • Instructions
  • Download link in instructions, look for "FRC Radio Configuration XX.Y.Z"
• REV Hardware Client
  • Instructions
  • Download
• Phoenix Tuner (CAN)
  • Download

Building and deploying to the robot

To build/deploy/debug the robot code either right click on build.gradle and choose the desired option or open the command pallete and search and select WPILib: [FUNCTION] robot code. Robot code may also be deployed by pressing Shift + F5.

To open the command palette use:

• F1
• Ctrl + Shift + P
• Cmd + Shift + P
• Select the WPILib Command Palette 'W' button in the top right

Generate Docs

./gradlew javadoc

Note: if you have multiple version of the JDK installed you may need to set JAVA_HOME specifically to 11.

External Documentation Links

• WPILib Docs Site
• WPILib Docs PDF
• REV Robotics Docs
• CTR Electronics Docs
• navX Docs
• Season Materials