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2020 Robot Code

Code for FRC 2036 Black Knights' 2020 Infinite Recharge robot.

Environment

This project is most compatible with Java 11, which is not the most recent version of Java.

It is recommended to use jEnv to switch between Java versions on Mac OS and Linux. I followed these instructions to set up jEnv on macOS Big Sur.

Installing the JVM (Ubuntu/Debian based systems)

  • sudo apt install -y openjdk-11-jdk - install the JVM
  • echo export JAVA_HOME=/usr/lib/jvm/java-1.11.0-openjdk-amd64 >> ~/.bashrc - Make sure Gradle knows where your Java installation is
  • source ~/.bashrc - Update your terminal

Installing the JVM (Windows 10)

Note: You must create an Oracle account in order to download Java.

  • Go to the Java 11 download page here
  • Install the file once it has finished downloading and restart your computer
  • Download the file marked as the Windows x64 Installer for the JAVA SE Development Kit 10.11.11

Building

This project uses gradle as its build system. The GradleRIO plugin provides a wide number of FRC specific gradle commands (see here for details).

The major commands (for macOS and Linux) are:

  • ./gradlew build - build the project
  • ./gradlew deploy - deploy code to the robot (or ./gradlew build deploy to do both)
  • ./gradlew riolog - display the rio log output

The major commands (for Windows) are:

  • ./gradlew.bat build - build the project
  • ./gradlew.bat deploy - deploy code to the robot (or ./gradlew.bat build deploy to do both)
  • ./gradlew.bat riolog - display the rio log output

Deploying and displaying the log require your computer to be connected to the robot (tethered over ethernet or connected to the robot's radio).

Passing the --offline flag to gradle will prevent it from trying to update and/or download dependencies, which can be useful at competition.

It is highly recommended to use intellij when working on the code. VSCode, though it is the officially supported editor, provides very limited code completion. Intellij provides excellent code completion, especially for kotlin.

FRC Documentation

The documentation for the FRC Control System can be found here. These are very useful to refer to.

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Code for 2036's FRC 2020 Infinite Recharge Robot

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