Skip to content

Team846/code-2023-public

Repository files navigation

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

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 //...

About

Team 846's code base for their 2023 robot

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published