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-hardware: 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
The 3 core projects above are used in the following robot projects:
- 2022-frc-basebot: used as a template project
- 2022-frc-compbot: 2022 competition robot
- 2022-frc-tshirtbot: 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 messsages 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 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