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
- install bazel
- install clangd vscode extension (not microsoft c++ extension)
- run
bazel run @hedron_compile_commands//:refresh_all
for c++ autocompletion - restart vscode
bazel build //y2023:y2023.deploy --platforms=@bazelrio//platforms/roborio
bazel build //Offseason2910Clone:Offseason2910Clone.deploy --platforms=@bazelrio//platforms/roborio
bazel run //y2023:y2023.deploy --platforms=@bazelrio//platforms/roborio
bazel run //Offseason2910Clone:Offseason2910Clone.deploy --platforms=@bazelrio//platforms/roborio
bazel run //y2023:y2023.simulation.gui
bazel test --test_output=all //...