Test Trajectory Library Project

Preface

This is a project I've been working on the past 2 weeks (started 5/16/19) in order to give the student members of FRC Team 3230 an example of FRC programming in Java. At the next meeting, I'll explain the documentation here, as well as basics of each class in the library and the function of each element in the code in a basic way. The goal of this project is to begin to get students thinking about Java programming and it's essential to have a sample to look towards.

Code Synopsis

This project assumes a robot with a Limelight subsystem and a drivetrain currently coded for Talon SRX motor controllers (easily switchable to Neos when needed) where it is able to follow a designated path with Jaci's Pathfinder, move towards a vision target using (really quite rudimentary) Limelight vision tracking, and show the vital elements of data logging of subsystems without the use of SmartDashboard (this is an element easily added in the future)

Setup Instructions

General

• Clone this repo
• Run ./gradlew to download gradle and needed FRC libraries
• Run ./gradlew tasks to see available build options
• Enjoy!

Eclipse

• Run ./gradlew eclipse
• Open Eclipse and go to "File > Open Projects" from "File System..."
• Set the import source to the TestTrajLib folder then click finish
• NOT RECOMMENDED

IntelliJ

• Run ./gradlew idea
• Open the TestTrajLib.ipr file with IntelliJ
• NOT RECOMMENDED

Visual Studio Code

• Open repository in your Visual Studio Code install with the WPILib extension enabled
• Test build the project using the command palette and selecting WPILib: Build Robot Code

Building/Deploying to the Robot through Console

• Run ./gradlew build to build the code. Use the --info flag for more details
• Run ./gradlew deploy to deploy to the robot in Terminal (Mac) or Powershell (Windows)

Deploying the Robot through Visual Studio Code

• On the command palette, select Deploy Robot Code (or press Shift+F5) when connected to the RoboRio

Testing the Robot through Visual Studio Code's Simulation

• On the command palette, select Simulate Robot Code on Desktop
• Wait for a dropdown menu and select halsim_ds_socket.dll
• Open DriverStation on your computer and enjoy!

Variable Naming Conventions

• General Camel Case (i.e. leftMaster instead of another variant)
• k*** (i.e. kLeftMasterID): Final constants
• m*** (i.e. mInstance): Private instance variables