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Team 846's code base for their 2022 robot

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code-2022-public

Snapshot of Team 846's robot code as of 5/26/22

  • Code run at Houston Championships
  • Merged in experimental shoot while driving branch
  • Minor cleanup and formatting

Features

  • Command based architecture with C++/bazel using bazelrio
  • 5 ball autonomous routine
  • Custom swerve drive control, trajectory generator, and follower
  • Custom limelight python pipeline that fits an ellipse to the vision targets to aim correctly towards partially obscured targets
  • Hot configurable preferences
  • Motor controller wrappers to cache gains/configurations and reduce CAN usage

Setup

  1. install bazel
  2. install clangd vscode extension (not microsoft c++ extension)
  3. run bazel run @hedron_compile_commands//:refresh_all for c++ autocompletion
  4. restart vscode

Build for roborio

bazel build //robot:robot.deploy --platforms=@bazelrio//platforms/roborio

Deploy to roborio

bazel run //robot:robot.deploy --platforms=@bazelrio//platforms/roborio

Run desktop simulation

bazel run //robot:robot.simulation.gui

Run unit tests

bazel test --test_output=all //...