T Shirt Cannon

Code for the FRC 1757 pre season pep rally

Installation

Visual Studio 2019 redistributable

vc_redist.x64

Python

3.9.6 amd64

Any text editor

VS Code is reccomended but not strictly required VS Code

alternative Neovim

the following is only required in order to run on real hardware

FRC Game Tools

FRC Game Tools

these are only for special setup things

FRC Radio Configuration Utility

FRC Configuration Utility

CTRE Phoenix

Phoenix Tuner

Setup

this is skippable if you desire to just use the simulator

roboRIO

1. Image the roboRIO Imaging instructions
2. Configure the roboRio

   Item	Value
   Team number	1757
   Firmware	6.0.0f1
   Image	FRC_roboRIO_2021_v3.0
   Static IP	10.17.57.2
   Subnet Mask	255.255.255.0

Run Phoenix Tuner

Update device firmware

• PDP
• FalconFX
• CANCoder

Configure CAN devices

Device	Class	Range	ID
robo_rio	core	0 - 9	master (no ID)
pdp	core	0 - 9	0
front_left_drive	motors	10 - 29	10
front_left_steer	motors	10 - 29	11
front_right_drive	motors	10 - 29	12
front_right_steer	motors	10 - 29	13
back_left_drive	motors	10 - 29	14
back_left_steer	motors	10 - 29	15
back_right_drive	motors	10 - 29	16
back_right_steer	motors	10 - 29	17
front_left_encoder	sensors	40 - 59	40
front_right_encoder	sensors	40 - 59	41
back_left_encoder	sensors	40 - 59	42
back_right_encoder	sensors	40 - 59	43
lights	IO	60 - 70	60

Configure network devices

Device	IP Address	Subnet Mask
OpenMesh radio	10.17.57.1	???.???.???.???
roboRIO	10.17.57.2	255.255.255.000
Driver Station (laptop)	10.17.57.5	255.000.000.000

Install robotpy

• IMPORTANT: Perform ALL operations in a python virtualenv

Create virtualenv (if not previously done)

Recommend placing the virtualenv in the TShirtCannon repo folder under .venv (to keep everything together) however the virtualenv is local to your system and should not be uploaded (ignored in .gitignore)

cd <path-to-mentorbot-repo>
py -3 -m venv ./.venv

Workflow

1. Activate virtualenv (Virtualenv activation may differ depending on your operating system and terminal)
   • Git Bash (Windows)

     source <path-to-mentorbot-repo>/.venv/Scripts/activate

2. Install / update dependancies (must have internet connection)

   python -m pip install -r requirements.txt

3. Download python for roboRIO (must have internet connection)

   python -m robotpy_installer download-python

4. Download robotpy modules for roboRIO (must have internet connection)

   python -m robotpy_installer download robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)
5. Install python on roboRIO (must be connected to roboRIO)

   python -m robotpy_installer install-python

6. Upload robotpy modules to roboRIO (must be connected to roboRIO)

   python -m robotpy_installer install robotpy

   (examples: robotpy, robotpy[ctre,navx], robotpy[all]) (see: robotpy on pypi)
7. Deploy robotpy program
   • To robot (must be connected to roboRIO)

     python robot.py deploy

   • To simulator

     python robot.py sim