https://github.com/choate-robotics/7407-drivecode-22-practice
Team 7407 Wired Boars 2022-2023 Robot Code
https://github.com/choate-robotics/7407-drivecode-22-practice
Last synced: 2 months ago
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Team 7407 Wired Boars 2022-2023 Robot Code
- Host: GitHub
- URL: https://github.com/choate-robotics/7407-drivecode-22-practice
- Owner: Choate-Robotics
- Created: 2022-07-11T21:43:12.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2022-12-14T02:33:47.000Z (over 2 years ago)
- Last Synced: 2025-01-21T06:11:33.122Z (4 months ago)
- Language: Python
- Size: 152 KB
- Stars: 2
- Watchers: 4
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# 7407-DriveCode-22-23
Team 7407 Wired Boars 2022-2023 Robot Code
## File Tree:
```
7407-DriveCode-22-23
├── 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-22-23.git
```
If you prefer ssh:
```
git clone [email protected]:Choate-Robotics/7407-DriveCode-22-23.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](https://robotpy.readthedocs.io/en/stable/) We love RobotPy!
- [WPILib Documentation](https://docs.wpilib.org/en/stable/index.html) RobotPy is just a wrapper for the WPILib C++ Code. Most of the structure remains the same.
- [Chief Delphi](https://www.chiefdelphi.com/) Many a sensor problem have been fixed by looking here.
- [7407 DriveCode-2021-Python](https://github.com/Choate-Robotics/7407-DriveCode-2021-Python) Worlds level code!