St. Paul's School FIRST Robotics Team 1512 software for the 2018 competition.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
The FRC 2018 Java/Eclipse WPI screensteps have been completed in their entirety
Install git
Go through CTRE installation steps
That's it, you are ready to code!
To contribute, follow the following steps
First ensure you are not on the master branch by running
git branch
If you are on the branch that you would like to make edits on, skip the following step, otherwise run
git checkout -b *name of the branch you want to create*
Now that you are on your working branch, you can make edits! Upon making edits, follow these steps to create a pull request
git add --all
This stages all your changes to be committed
git commit -m "*commit message you want*"
This commits your changes (preps it to be pushed to a remote - ie online)
git push origin *name of branch you are working on*
This pushes your changes to the remote and if the branch does not exist on the remote it creates it
Next go here and click the "pull request" button
This year we are using CAN Talons to control various motors on the robot. For autonomous mode we have decided to use quadrature magnetic encoders to precisely control the speed of these motors.
Information on how to use these encoders in java: To determine what value to pass to the talon for setting the desired encoder location, refer to this equation:
(Encoder Value) = ((Desired RPM - Revolutions per Minute) * 4096) / 600)
This was derived from the given knowledge that 4096 "units" (ie a change in position) per 100ms is equal to 1 revolution per 100 ms
This information is useful as the robot can be told to go a certain distance, knowing that:
Distance = (diameter of tire) * pi * minutes * RPM*
Note that this equation can be rearranged to solve for distance, time, and RPM. For example, if you knew how far you wanted the robot to go and how fast you wanted the robot to accomplish the movement:
RPM = (desired Distance) / ((diameter of tire) * pi * (desired time))
See also the list of contributors who participated in this project.