Our robot code for Infinite Recharge.
This project uses robo-sim and is not a standard WPILib project.
Robot Name: "Thunder Falcon"
You will need Java 11 installed. Not 10, not 12, 11.
Run the ./gradlew build and ./gradlew wpi:downloadAll commands described below.
It is recommended to use either IntelliJ or VS Code.
NOTE: These commands work on Linux/Mac but must be altered on Windows.
To alter them on Windows, replace ./gradlew with gradlew.bat
# Building: (Make sure code is correct)
./gradlew build
# Downloading everything for WPI (Do this if you aren't going to have internet! (Like before competition!))
./gradlew wpi:downloadAll
# Deploying:
./gradlew wpi:deploy
# Launching Shuffleboard: (The dashboard we use)
./gradlew wpi:shuffleboard
# Launching OutlineViewer: (Good for debugging NetworkTable values)
./gradlew wpi:outlineviewer
# Running RoboSim Simlation:
./gradlew desktop:run
# Running WPI Simulation
./gradlew wpi:simulateJava
# Running RIOLog
./gradlew wpi:riolog
# Helpful for debugging
tail -f wpi/build/stdout/simulateJava.log | grep -Ev "Talon|CTR|Victor|Stop"
./gradlew wpi:riolog | grep -Ev "CTR|Stack"
This project has four main modules:
core- Main code that is shared in all moduleswpi- WPI specific code that is deployed to the robotgdx- RoboSim simulation specific codedesktop- Contains a class to launch thegdxmodule on the desktop
You should put classes that require WPI/RoboRIO interaction in the wpi module.
When initializing things for wpi, you can change WpiRunnableCreator.java when you
need to pass data to Robot.java
If you are brave, you can change MyRobotCreator.kt to pass different values to Robot.java for the simulation. It does, however, use Kotlin.
Why do most of the classes implement Runnable? Runnable is a nice interface to use to have a common "update" method. It probably isn't necessary to have most classes inherit Runnable, but it does make the code have some consistency.
- Calculate velocity and offset turret based on velocity
- Program climb lift coming down in auto