mentorbot
Code for the FRC 1757 teaching platform robot
Installation
Visual Studio 2019 redistributable
Python
VS Code
FRC Game Tools
CTRE Phoenix
Setup
roboRIO
- Image the roboRIO Imaging instructions
- Configure the roboRio
Item Value Team number 1757
Firmware 6.0.0f1
Image FRC_roboRIO_2021_v3.0
Static IP 10.17.57.1
Subnet Mask 255.255.255.0
Run Phoenix Tuner
Update device firmware
- PDP
- FalconFX
- CANCoder
Configure CAN devices
Device | Class | Range | ID |
---|---|---|---|
robo_rio | core | 0 - 9 | master (no ID) |
pdp | core | 0 - 9 | 0 |
front_left_drive | motors | 10 - 29 | 10 |
front_left_steer | motors | 10 - 29 | 11 |
front_right_drive | motors | 10 - 29 | 12 |
front_right_steer | motors | 10 - 29 | 13 |
rear_left_drive | motors | 10 - 29 | 14 |
rear_left_steer | motors | 10 - 29 | 15 |
rear_right_drive | motors | 10 - 29 | 16 |
rear_right_steer | motors | 10 - 29 | 17 |
front_left_encoder | sensors | 40 - 59 | 40 |
front_right_encoder | sensors | 40 - 59 | 41 |
rear_left_encoder | sensors | 40 - 59 | 42 |
rear_right_encoder | sensors | 40 - 59 | 43 |
Install robotpy
- IMPORTANT: Perform ALL operations in a python virtualenv
Create virtualenv (if not previously done)
Recommend placing the virtualenv in the mentorbot
repo folder under .venv
(to keep everything together) however the virtualenv is local to your system and should not be uploaded (ignored in .gitignore
)
cd <path-to-mentorbot-repo>
py -3 -m venv ./.venv
Workflow
- Activate virtualenv
(Virtualenv activation may differ depending on your operating system and terminal)
- Git Bash (Windows)
source <path-to-mentorbot-repo>/.venv/Scripts/activate
- Git Bash (Windows)
- Install / update robotpy
(must have internet connection)
(examples:
py -3 -m pip install -U robotpy
robotpy
,robotpy[ctre,navx]
,robotpy[all]
) (see: robotpy on pypi) - Download python for roboRIO
(must have internet connection)
py -3 -m robotpy_installer download-python
- Download robotpy modules for roboRIO
(must have internet connection)
(examples:
py -3 -m robotpy_installer download robotpy
robotpy
,robotpy[ctre,navx]
,robotpy[all]
) (see: robotpy on pypi) - Install python on roboRIO
(must be connected to roboRIO)
py -3 -m robotpy_installer install-python
- Upload robotpy modules to roboRIO
(must be connected to roboRIO)
(examples:
py -3 -m robotpy_installer install robotpy
robotpy
,robotpy[ctre,navx]
,robotpy[all]
) (see: robotpy on pypi)