code-2023-public

Snapshot of Team 846's robot code as of 7/10/23 + Offseason code written for our 2910 robot clone

During-season code

• Code run at SVR(mostly)
• Added a few small fixes for new bugs
• Minor cleanup and formatting

Features

• Command based architecture with C++/bazel using bazelrio
• 5 different auto routines
• Custom swerve drive control, trajectory generator, and follower
• Hot configurable preferences
• Motor controller wrappers to cache gains/configurations and reduce CAN usage

Offseason Code

• Code run at Capital City Classic
• Minor cleanup and formatting since competition

Features

• Command based architecture with C++/bazel using bazelrio
• 2 different autonomous routines (including one that scores 3 pieces)
• Custom swerve drive control, trajectory generator, and follower
• Hot configurable preferences
• Motor controller wrappers to cache gains/configurations and reduce CAN usage

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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 //y2023:y2023.deploy --platforms=@bazelrio//platforms/roborio bazel build //Offseason2910Clone:Offseason2910Clone.deploy --platforms=@bazelrio//platforms/roborio

Deploy to roborio

bazel run //y2023:y2023.deploy --platforms=@bazelrio//platforms/roborio bazel run //Offseason2910Clone:Offseason2910Clone.deploy --platforms=@bazelrio//platforms/roborio

Run desktop simulation

bazel run //y2023:y2023.simulation.gui

Run unit tests

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