spiresRobot2025

Main 2025 Robot Code for FRC Team 9106 - Spires

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Thank you to our sponsors!

This repository started as a fork of RobotCasserole2025. We are grateful to Team #1736 for the inspiration.

Installation

Before developing code on a new computer, perform the following:

1. Download and install wpilib
2. Download and install python
3. cd to this directory
4. run these commands:

    python -m pip install --upgrade pip
    python -m venv .venv

. .\.venv\bin\activate or .\.venv\Scripts\activate

    python -m pip install -r requirements_dev.txt
    robotpy sync

Docs

• High level code design patterns
• Commonly used modules in this repository
• Most recent relationship diagram between classes
  • Keep this file up to date by periodically running codeStructureReportGen/reportGen.py

The robot website

On a simulator

• http://localhost:5805/

On a RoboRIO

• http://10.91.6.2:5805/
• Be sure that you are connected to the RoboRIO's network via WiFi or Ethernet

Interesting links

RobotPy source code

PyTest Docs

PyTest Examples

Deploying to the Robot

Use the WPILib: Deploy Robot Code task in VSCode's command palette.

OR

robotpy deploy will deploy all code to the robot. Be sure to be on the robot's network via WiFi or Ethernet.

Deploy Notes

robotpy deploy --skip-tests to avoid requiring tests to pass before deployment can proceed. This is helpful for quick iterations, but don't make it a bad habit.

.deploy_cfg contains specific configuration about the deploy process.

Any folder or file prefixed with a . will be skipped in the deploy. This is good to avoid sending unnecessary files to the resource limited RoboRIO like documentation and images.

Linting

"Linting" is the process of checking our code format and style to keep it looking nice and avoid unnecessary inconsistencies.

pylint --rcfile=.pylintrc **\*.py

.pylintrc contains configuration about what checks the linter runs, and what formatting it enforces

to lint a specific directory:

pylint --rcfile=.pylintrc --source-roots=. utils\**\*.py

to lint a specific file:

pylint --rcfile=.pylintrc --source-roots=. drivetrain\poseEstimation\drivetrainPoseEstimator.py

Testing

Run the WPILib: Test Robot Code task in VSCode's command palette.

OR

robotpy test

OR to get details of what is happening during the tests:

robotpy test -- --no-header -vvv -s

OR to run a specific test file from the '.\tests' directory:

robotpy test autoSequencer_test.py -- --no-header -vvv -s

OR to run a specific test file and test case from the '.\tests' directory:

robotpy test autoSequencer_test.py::test_parallel -- --no-header -vvv -s

OR to skip a specific test:

robotpy test -- -k 'not pyfrc_test.py'

Simulating

Run the WPILib: Simulate Robot Code task in VSCode's command palette.

OR

robotpy sim

Dependency Management

requirements_dev.txt is used to list dependencies that we only need on our development computers, not on the RoboRIO. Some tools like linting and formatting aren't mission-critical (or even used) at runtime, but still very helpful to have. robotpy is on this is on this list because it exists on the development computers, and by placing it on this list it removes an installation step.

robotpy then uses pyproject.toml to the dependencies that are required to be installed on the RoboRIO for our code to successfully run. For tests and simulations you will also need these dependencies on your development machine. They are managed automatically via robotpy sync.

To rebuild a '.venv' from scratch

. .\.venv\bin\activate or .\.venv\Scripts\activate

python -m pip freeze > temp.txt
python -m pip uninstall -y -r temp.txt
python -m pip install -r .\requirements_dev.txt
robotpy sync

Useful commands:

See network logs: python -m netconsole roboRIO-9106-frc.local or python -m netconsole 10.91.6.2

SSH into the robot: ssh lvuser@roboRIO-9106-frc.local or ssh lvuser@10.91.6.2

Roborio 2.0 image install

Use balenaEtcher to install the roborio image

The 2023 roborio 2.0 image is here:

C:\Program Files (x86)\National Instruments\LabVIEW 2020\project\roboRIO Tool\FRC Images\SD Images

The 2024 roboio 2.0 image is here:

C:\Program Files (x86)\National Instruments\LabVIEW 2023\project\roboRIO Tool\FRC Images\SD Images

use roborio team number setter to set the team number