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2025 Codebase for FRC Team 846

Compilation Check Formatting Check CppCheck

Overview

Key features will be posted here soon...

General Project Structure

Code subsystems interact with hardware subsystems by: 1. writing to motors and 2. receiving sensor data. Examples of code subsystems include: driver, pivot, intake.

Commands set targets to these subsystems. Some commands are like actions, such as moving the arm to a setpoint, or deploying the intake. Commands can be compounded to form more complex routines and autos.

  • src/

    • y2025/

      • cpp/

        • subsystems/

        • commands/

        • main.cpp

        • FunkyRobot.cc

      • include/

        • Headers

      • resources/

        Miscellaneous, vision code

    • deploy/

      Any files placed in this directory will be put onto the RIO's file system during deploy. These files can be accessed by robot code.

      • autos/

        Includes scriptable autos

  • frc846/

    Custom architecture. Contains motor control classes, logging classes, prefs, etc.

  • build

    • tmp

      Build Logs can be found here. Generated by WPILib build tools, not us.

First Time Setup - Windows

--Downloads--

WPILib Tools

  • Download WPILib tools and WPILib VSCode. Attached is the link for version 2025.2.1.
  • Once downloaded, double click on the file. By default, it will be saved in the downloads folder.
  • Run the .exe file inside of it. It should be called "WPILib Installer".
  • Go through the default setup process.
    • Install everything, NOT tools only.
    • When you get to the installation for WPILib VSCode, select "for this computer only".

Git

  • Create a GitHub account (which you should already have if you can access this?).
    • If haven't already, send your username to me so I can add you to our organization. This allows you to modify/edit files.
  • Download git-scm from here.
    • For most people, 64-bit standalone installer.
  • Run the file downloaded.
  • Go through setup process.
    • If unsure, select default options.

If unfamiliar with GitHub, go through tutorials in the Using Git section.

LLVM

  • Download LLVM
    • Run the downloaded file, go through setup process.
  • If "Add LLVM to Path" is an option during setup process, select YES.
    • If not, add C:\Program Files\LLVM\bin to PATH
    • Read this for more information on adding files to PATH.

CppCheck

  • Download CppCheck.
  • If "Add CppCheck to Path" is an option during setup process, select YES.
    • If not, add C:\Program Files\Cppcheck to PATH
    • Read this for more information on adding files to PATH.

--Setup--

  • Clone the repository.
    • Run: git clone https://github.com/Team846/monkey_menace.git in terminal.
  • Open WPILib VSCode
  • In WPILib VSCode, open the folder containing the cloned repository.
    • The path will be path the clone command was run in + howler_monkey
  • DO NOT change the gradle file. If WPILib VSCode prompts an update to the gradle file, click CANCEL.
  • Click on the WPILib icon (the W in the top right corner).
  • In the dropdown list, click on C++: Refresh C++ Intellisense.
  • If it succeeds, the code has been successfully setup on your computer.
  • Read the First Build section.

Deploying:

  • When trying to deploy the code to the robot, connect to the robot using either an ethernet cable or by connecting to the radio's network.
  • Then, run 'Deploy robot code'.

First Time Setup - MacOS

Read through the setup process on Windows. This section will only outline the differences. You may need to install homebrew.

--Downloads--

Select x64 or arm depending on your chip. If using M1/M2/M3 mac, select arm.

Ignore the LLVM section.

--Setup--

WPILib VSCode is installed in a hard-to-find directory on MacOS. It is usually located in ~/wpilib/202x/vscode/ and is called "Visual Studio Code". For example it can be located in /Users/funkymonkey/wpilib/202X/vscode. If you need help finding it, ask someone who has previously installed WPILib VSCode on MacOS.

It is a good idea to rename the file or move it into your Applications folder and pin it in dock for easy access and differentiation from normal VSCode.

WPILib VSCode will have a W icon in the top right corner, wherease normal VSCode will not.

First Build

  • Click on the WPILib icon in the top right corner of WPILib VSCode.
  • Click WPILib: Build Robot Code.
  • If the code fails to build, it is most likely your fault. Fix the code you changed.
  • If you didn't change anything, then ask me for help.

A first build can take over 10 minutes. Subsequent builds should be under 5 minutes.

Deploying Code to the Robot

  • Get permission from a Software Lead.
  • Connect to the robot's network or connect directly using an ethernet cable.
  • Run WPILib: Deploy Robot Code.
  • Do not disconnect, stop, or power-cycle the robot for any reason during the deploy. This may damage the RoboRIO.

Using Git

I have old code, I need to update it:

  • git pull

I have new code which has been verified by a Software Lead. I need to give others access to it:

  • git add . <-- The "." means all files
  • git commit -am EXAMPLE_COMMIT_MESSAGE
  • git push

I need to switch to a branch:

  • git checkout -b NAME_OF_BRANCH <-- to create a new branch
  • git checkout NAME_OF_BRANCH <-- to switch to an existing branch

I need to go back to a previous commit:

  • git log
  • Press SPACE to scroll down and Q (lowercase) to exit.
  • Find the hash (the random series of characters/numbers) for the commit you want.
  • git checkout HASH

To undo the going back:

  • git switch - <-- goes back to latest commit

CppCheck Warnings

src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:160:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]