Dec 26, 2021
The uacr-framework-development project breaks the code into separate projects, each that work together to create the final robot project.
The core projects are: uacr-robot-core: Handles common (non-hardware) logic frc-core-plugin: Handles the interface to the hardware and WPILib uacr_robot_dashboard: Creates a web browser dashboard for testing in simulation mode, on the robot, and at competitions uacr_pure_pursuit: Handles path following
The 4 core projects above are used in the following robot projects: 2020-basebot: used as a template project 2020-frc-compbot: 2020 competition robot 2020_frc_protobot: prototyping robot platform 2020-frc-challengebot: 2021 at home competition robot 2021-frc-defensebot: experimental swerve robot 2021-t-shirt-bot: off season project
To debug any of the robot projects in simulation mode:
- Open the gradle tab
- Go to Tasks > other
- Right click on xyzSim (such as compbotSim)
- Select 'Modify Run Configuration"
- Click the 'Modify options' dropdown box and select 'Debug all tasks on the execution graph'
- Click 'ok'
- Set a breakpoint
- Double click xyzSim (such as compbotSim)
- You should see the following messages in the Intellij console window
Task :2020-frc-basebot:run 14:48:54.002 main [INFO] RobotCore - Starting services 14:48:54.042 LoggingService [DEBUG] LoggingService - Starting LoggingService 14:48:54.044 LoggingService [DEBUG] LoggingService - LoggingService started 14:48:54.044 WebDashboardService [DEBUG] WebDashboardService - Starting WebDashboardService 14:48:54.046 WebDashboardService [DEBUG] WebDashboardService - WebDashboardService started 14:48:54.047 main [INFO] RobotCore - ********************* ALL SERVICES STARTED ******************************* 14:49:07.472 LoggingService [DEBUG] LoggingService - ********** Info thread frame cycle time = 83.0
- Open a Chrome browser
- Go to http://localhost:5800/
- Plug in 2 Xbox Controllers to your laptop
- Double click the web page to bring a configuration screen
- Select 'Teleop', your Xbox controllers and click 'Close'
- You should now be able to control the code with the Xbox controllers and hit breakpoints