7407-DriveCode-{TEMPLATE}

Team 7407 Wired Boars {TEMPLATE} Robot Code

File Tree:

7407-DriveCode-Template
├── autonomous (Contains autonomous routines for robot)
├── command (Contains commands for command scheduling)
│   └── __init__.py
├── oi (Operator Interface)
│   ├── OI.py (Contains keymappings to commands)
│   └── keymap.py (Contains controller keymaps for each subsystem and controller)
├── sensors (Contains sensor classes)
│   └── __init__.py (Contains sensor classes)
├── subsystem (Contains subsystem classes)
│   └── __init__.py
├── utils (Contains utilities like optimizations, conversions)
│   └── __init__.py
├── .gitignore (Filters out unnecessary files, for example *.pyc)
├── README.md (This file)
├── constants.py (Variables held constant throughout code.)
├── config.py (Easy configurations for entire robot.)
├── poetry.lock (DO NOT EDIT. Use "poetry add {package}" to add packages.
├── pyproject.toml (DO NOT EDIT.)
├── robot.py (Central program, controls everything.)
└── robot_systems.py (Contains initialized sensors and subsystems)

Getting Started:

Clone the repository code onto your computer:

git clone https://github.com/Choate-Robotics/7407-DriveCode-Template.git

If you prefer ssh:

git clone git@github.com:Choate-Robotics/7407-DriveCode-Template.git

If you don't have Poetry installed already:

Linux and Mac

curl -k https://install.python-poetry.org/ | python3 - 

You might have to replace "python" at the end with "python3" depending on how python is configured in your system.

Windows Powershell

(Invoke-WebRequest -Uri https://raw.githubusercontent.com/python-poetry/poetry/master/get-poetry.py -UseBasicParsing).Content | python -

Further information can be found here: https://python-poetry.org/docs/

Make sure to add Poetry to your path.

With Poetry Installed:

poetry shell

poetry install

Deploying Code:

Connect to the robot's wifi. python robot.py deploy If absolutely necessary, use python robot.py deploy --no-version-check to avoid WPILib version issues on the robot.

Best Practices

Pre-Commit, Formatting

Make sure to run pre-commit install before your first commit. When you commit, pre-commit will automatically check all files you have staged using Flake8, Black, ISort, and other formatters.

• If the response contains an ERROR:

  • If the error response contains "Files were modified by this hook":
    • git add .
    • git commit -m "Message"
  • Otherwise, manually fix the issues outlined, re-stage your files ( git add.) and recommit.

Do not forget to git add . before committing.

Commenting

Comment, comment, comment!

• Use block quotes to start any function with parameters, and every class's "__init__" function. Block quotes should contain:
  • Summary
  • Arguments, with types and descriptions
  • Return description There are many extensions to help with docstrings. Examples include:
    • autoDocstring on VsCode
    • On PyCharm
      • Place your cursor over a function or class name.
      • Alt-Enter
      • Generate documentation string stub
• Use single line comments for any function without parameters with a description of the function.
• Use single line comments before any complex function to describe how it works, and to the right of any line or variable that is very complicated.
• Use TODO comments freely.

Adding libraries

Always use poetry add {library} to add libraries. This ensures that libraries are compatible and allows everyone to work easier. Never, ever, edit poetry.lock or pyproject.toml manually.

Committing, Pushing, and Pulling

To commit:

git add .
git commit -m "Message"

To push:

git push

To pull:

git fetch
git pull

Branching

To branch, first make sure that all your local changes are committed. If you would like to abandon the changes, run git reset --hard. Be very careful with resetting. To branch: ``git branch {branch name}

Branch names are as follows:

• Subsystem Initialization branch format: init/{subsystem}
  • Example: init/shooter
  • Example: init/drivetrain
• Feature branch format: feat/{subsystems}/{feature}
  • Example: feat/shooter/optimized_shooting
  • Example: feat/intake-index/ejection
• Fix branch format: fix/{subsystems}/issue
  • Example: fix/camera_server/wrong_ports
  • Example: fix/robot/network_loop_time
  • Example: fix/sensors/clean_up
• Competition branch format: comp/{competition}/day/{day}
  • Example: comp/battlecry/day/0 (load_in, initial setup, configurations)
  • Example: comp/hartford/day/1

Pull Requests

To integrate a branch with branch Main, create a pull-request with the same title as your branch. Make sure pre-commits pass before pushing to ensure clean code.

Competition Exceptions

Pre-commits

• To avoid frustration, please use git commit -m "{Message}" --no-verify

Debugging:

Logger

• USE LOGGER! It makes it easier on everyone to debug.

Smart Dashboard/Shuffleboard

• Shuffleboard is preferred over the Smart Dashboard and console for debugging. To use shuffleboard, just push a string, number, boolean, or similar value to the SmartDashboard using "wpilib.SmartDashboard.pushNumber ..." etc. The value is then accessible through ShuffleBoard.

Resources

• RobotPy Documentation We love RobotPy!
• WPILib Documentation RobotPy is just a wrapper for the WPILib C++ Code. Most of the structure remains the same.
• Chief Delphi Many a sensor problem have been fixed by looking here.
• 7407 DriveCode-2021-Python Worlds level code!