Guide.md

Guide

Contains helpful information for developing and debugging software for FRC.

Documentation

1. FRC Docs
2. WPILib Docs
3. Team 3256 2022 Code (For Reference)

Git

###Pushing Code

Standard Method

git add .
git commit -m"<Your commit message>"
git pull
git push

Merge Conflicts

Either (more common) merge your code with git merge. If you don't want to merge then temporarily shelve your changes before pulling with git stash ###Creating a branch Give branches descriptive names (all lower case), replace spaces with “-”, prefix with “feature” or “fix". Good examples include fix/5-ball-auto, feature/transfer-subsystem, feature/acceleration-limiting.

Creating a pull request

Go to the pull request tab on GitHub and select New pull request. Link the pull request to the proper GitHub issue if there is any. Add at least one lead as a reviewer.

Hardware

Talon FX Motors

Following Motors

1. Create a leading motor and a following motor.
2. Set the following motor to follow the leading motor

Example:

TalonFX followingMotor = new TalonFX(id);
followingMotor.follow(masterMotor);

###Pneumatics

Double Solenoids

Example

DoubleSolenoid example = new DoubleSolenoid(PNEUMATICS_HUB_ID, PneumaticsModuleType.REVPH, FORWARD_ID, BACKWARD_ID);

###Flashing the Radio

Commands

1. Create a new file for each command
2. Put the subsystems used in a command as dependencies
3. Each command should have initialize, execute, and end methods. Reference commands from 2022 FRC code

Example Command:

public class CommandName extends CommandBase {
    private IntakeSubsystem intake;
    public CommandName(IntakeSubsystem intake){
        this.intake = intake;
    }
    
    public void initialize() {...}
    public void execute() {...}
    public void end(boolean interrupted) {...}
}

Command Groups

Lambdas in Java

###PID Controllers with feed forward

###Logging and debugging

###Vision and Odometry

Checking Assignments in Terminal

Run ./gradlew test in Terminal