code-2022-public

Snapshot of Team 846's robot code as of 5/26/22

• Code run at Houston Championships
• Merged in experimental shoot while driving branch
• Minor cleanup and formatting

Features

• Command based architecture with C++/bazel using bazelrio
• 5 ball autonomous routine
• Custom swerve drive control, trajectory generator, and follower
• Custom limelight python pipeline that fits an ellipse to the vision targets to aim correctly towards partially obscured targets
• Hot configurable preferences
• Motor controller wrappers to cache gains/configurations and reduce CAN usage

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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 //robot:robot.deploy --platforms=@bazelrio//platforms/roborio

Deploy to roborio

bazel run //robot:robot.deploy --platforms=@bazelrio//platforms/roborio

Run desktop simulation

bazel run //robot:robot.simulation.gui

Run unit tests

bazel test --test_output=all //...