commit | 0cf8348b231438add66c2ece3f520611c4aed5bb | [log] [tgz] |
---|---|---|
author | Austin Schuh <austin.linux@gmail.com> | Sun Feb 18 21:36:50 2018 -0800 |
committer | Austin Schuh <austin.linux@gmail.com> | Sun Feb 18 22:41:13 2018 -0800 |
tree | bdb7c60b21fdd25031da40316a0a80e0c1aa9ae6 | |
parent | 8e99b826978c8adbc0eeaf2b0a8770d7a57b256d [diff] |
Now execute the trajectory for the arm. We can now do a runtime forwards pass to bound accelerations and execute a sample path. Also add a TrajectoryFollower object to hold that logic. This also includes a LQR controller (pending Brian's library addition.) Change-Id: I3e7ebf7186f07a742a866ff3144f98d0ee929725
This is FRC Team 971's main code repository. There are README*
files throughout the source tree documenting specifics for their respective folders.
The main central location for our code is our Gerrit server at https://robotics.mvla.net/gerrit. To get a copy of the code on your computer to work with, follow these steps:
clone with commit-msg hook
command will save you trouble later.To learn more about git, see git(1) (man git
or git(1) (especially the NOTES section).
We want all code to at least have a second person look over it before it gets merged into the master
branch. Gerrit has extensive documentation on starting reviews. TL;DR: git push origin HEAD:refs/for/master
and then click on the link to add reviewers. If you just upload a change without adding any reviewers, it might sit around for a long time before anybody else notices it. git-review can make the upload process simpler.
The currently supported operating system for building the code is amd64 Debian Jessie. It is likely to work on any x86_64 GNU/Linux system, but that's not at all well-tested.
We use Bazel to build the code. Bazel has extensive docs and does a nice job with fast, correct increment rebuilds.
/etc/apt/sources.list.d/
.apt-get install -t jessie-backports openjdk-8-jdk apt-get install python libpython-dev bazel ruby clang-format-3.5 clang-3.6 gfortran libblas-dev liblapack-dev python-scipy python-matplotlib
doc/frc971.conf
.bazel test //... bazel build --cpu=roborio //...
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local