https://github.com/garrettsummerfi3ld/gigan
A 2024 Crescendo FRC robot written in Java using GradleRIO and WPILib. Focus on stability and rich diagnostics for driver operation.
https://github.com/garrettsummerfi3ld/gigan
frc-crescendo frc-java frc-robot java robotics-competition
Last synced: 5 months ago
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A 2024 Crescendo FRC robot written in Java using GradleRIO and WPILib. Focus on stability and rich diagnostics for driver operation.
- Host: GitHub
- URL: https://github.com/garrettsummerfi3ld/gigan
- Owner: garrettsummerfi3ld
- License: other
- Created: 2024-02-28T07:00:10.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-10-14T08:42:43.000Z (7 months ago)
- Last Synced: 2024-11-09T12:30:41.360Z (7 months ago)
- Topics: frc-crescendo, frc-java, frc-robot, java, robotics-competition
- Language: Java
- Homepage:
- Size: 240 KB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
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README
# gigan
A 2024 Crescendo FRC robot written in Java using GradleRIO and WPILib. Focus on stability and rich diagnostics for driver operation.
## Build Status
| Action | Status |
| ----------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| CI | [](https://github.com/garrettsummerfi3ld/gigan/actions/workflows/ci.yml) |
| Qodana | [](https://github.com/garrettsummerfi3ld/gigan/actions/workflows/qodana.yml) |
| CodeQL | [](https://github.com/garrettsummerfi3ld/gigan/actions/workflows/codeql.yml) |
| Spotless | [](https://github.com/garrettsummerfi3ld/gigan/actions/workflows/syntax-check.yml) |
| Gradle Validation | [](https://github.com/garrettsummerfi3ld/gigan/actions/workflows/gradle-wrapper-validation.yml) |
## How to use
Download the repository and prep for deployment.
```bash
git clone https://github.com/garrettsummerfi3ld/gigan.git
# On macOS/Linux
chmod +x ./gradlew
# To build and load dependencies
./gradlew build
```
Ensure you are connected to a roboRIO via Wi-Fi or USB direct connect.
> [!TIP]
>
> It is recommended to open up Visual Studio Code with WPILib or [WPILib's distribution of VS Code](https://github.com/wpilibsuite/allwpilib) for easier access to diagnostic tools and console logs, as well as GradleRIO being default included.
Deploy the software to the roboRIO.
```bash
./gradlew deploy
```
_If you are using the WPILib extension:_
- `Ctrl+Shift+P` (Windows/Linux) / `Command(⌘)+Shift+P` (macOS)
- WPILib: Deploy Robot Code
> [!NOTE]
>
> You can also access commonly used WPILib commands when clicking on the WPILib icon on an open file, this only shows up if you have WPILib VS Code opened
### Competition use
> [!WARNING]
>
> You should always before a competition to create an `event` branch, to separate the new code written and not dirty up the main branch. You will need to install [Event Deploy for WPILib](https://marketplace.visualstudio.com/items?itemName=Mechanical-Advantage.event-deploy-wpilib) from the VS Code marketplace.
To create an `event` branch, open up the repository in either GitHub Desktop, VS Code, or a terminal.
It is also recommended to have a naming convention of `event/[name-of-event]` where all changes are committed to that branch during an event.
If you were to have multiple programmers present at an event, you can also have another naming convention of `event/[name-of-event]/[programmer]`.
### VS Code
In the "Source Control" tab, go to the branches tab and click on the "+" button to create a branch.
Name the branch accordingly.
You can also switch branches with the same process.
### GitHub Desktop
Click on the current branch name and click on the "New Branch" button.
Name the branch accordingly.
You can also switch branches with the same process.
### Terminal
Browse to your project in the terminal, with `cd` commands to search around. Once in the root directory of the project, input the following commands:
```bash
# Creates and checks out a new branch under the name provided
git checkout -b event/[name-of-event-here]
```
Name the branch accordingly.
To switch branches back and forth input the following into the terminal:
```bash
git checkout [branch-name-here]
```
## Features
### Code features and quality gates
- Preconfigured setup for GitHub Actions (helpful for [CI/CD](https://en.wikipedia.org/wiki/CI/CD))
- Build action for building the robot code (helpful for ensuring code compiles)
- [Qodana](https://www.jetbrains.com/qodana/) action for static analysis (helpful for finding bugs and code smells)
- [CodeQL](https://codeql.github.com/) action for static analysis and security scanning (helpful for finding bugs and security vulnerabilities)
- [Spotless](https://github.com/diffplug/spotless) enforcement action for code formatting (helpful for keeping code cleanly formatted after commits)
- [Gradle Validation](https://github.com/gradle/wrapper-validation-action/tree/v1/?tab=readme-ov-file#the-gradle-wrapper-problem-in-open-source) action for validating the Gradle wrapper (helpful for ensuring [supply chain](https://en.wikipedia.org/wiki/Supply_chain_attack) security)
- Preconfigured setup for [Command-Based Robot](https://docs.wpilib.org/en/stable/docs/software/commandbased/index.html) projects (helpful for getting started)
- [Dependabot](https://docs.github.com/en/code-security/dependabot) for dependency updates (helpful for keeping dependencies up to date)
- Preconfigured setup for [Spotless](https://github.com/diffplug/spotless) inside of Gradle (helpful for keeping code cleanly formatted during development)
### Robot features
- [YAGSL](https://github.com/BroncBotz3481/YAGSL) is used for the swerve drivetrain
- [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit) logging and diagnostics
- [Unofficial REV-Compatible Logger](https://github.com/Mechanical-Advantage/URCL) (URCL) to perform additional logging
- Power Distribution logging for power status during robot runtime
- Writing all logs directly to a USB Drive connected to the RoboRIO
- [PhotonVision](https://photonvision.org/) setup for performing autonomous tasks with Note detection
- [PathPlanner](https://github.com/mjansen4857/pathplanner) to run semi-autonomous or full autonomous tasks
- [NetworkAlerts](https://github.com/Mechanical-Advantage/NetworkAlerts) support for any alerts relating to the operation of the robot
- To install NetworkAlerts for Shuffleboard, run `py driverstation/install-networkalerts.py` on any computer.
- [VisualVM](https://visualvm.github.io/) profiling enabled to provide information on application health with memory management and other vitals of the JVM.
## Requirements
- [WPILib 2024.3.2](https://github.com/wpilibsuite/allwpilib/releases/tag/v2024.3.2)
- Internet connection (for Gradle to download dependencies)
- [NetworkAlerts](https://github.com/Mechanical-Advantage/NetworkAlerts) (For Shuffleboard/FRC Web Components)
- Automatic installation requires [Python 3](https://www.python.org/) to be installed