Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 0aae92411895d4e5385ba22097284d012b714523
commit0aae92411895d4e5385ba22097284d012b714523[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Wed Mar 14 19:49:44 2018 -0700
committerAustin Schuh <austin.linux@gmail.com>Wed Mar 21 20:11:07 2018 -0700
treeffcb4f88b2307f6ee39bc6289b55c56b5c9a95f4
parentf8c1b66e4bde053b24ac8ed6ab74125fb75ac77b [diff]
Expose drivetrain voltage limit.

The drivetrain control loop was assuming it could always use 12 volts.
That's not always a good idea (there are cases where we want to limit to
like 4 volts so we can tolerate stalling the drivetrain for extended
periods).  Make it configurable over the goal queue!

Change-Id: Ia13542d0ce0523dae31f30e10ae44c1872e06d1e
5 files changed
tree: ffcb4f88b2307f6ee39bc6289b55c56b5c9a95f4
  1. aos/
  2. build_tests/
  3. compilers/
  4. debian/
  5. doc/
  6. frc971/
  7. motors/
  8. third_party/
  9. tools/
  10. vm/
  11. y2012/
  12. y2014/
  13. y2014_bot3/
  14. y2016/
  15. y2017/
  16. y2017_bot3/
  17. y2018/
  18. .clang-format
  19. .gitignore
  20. LICENSE.txt
  21. README.md
  22. setup_roborio.sh
  23. WORKSPACE
README.md

Introduction

This is FRC Team 971's main code repository. There are README* files throughout the source tree documenting specifics for their respective folders.

Access to the code

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:

  1. Contact Michael Schuh to get an SVN account.
  2. Go to Gerrit and create an account.
  3. Contact Brian Silverman with your SVN username to get access to the code in Gerrit.
  4. Go to the 971-Robot-Code project in Gerrit and run the command. Running the 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).

Code reviews

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.

Building the code

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.

Steps to set up a computer to build the code:

  1. Set up the required APT repositories: Download frc971.list and llvm.org.list and put them in /etc/apt/sources.list.d/.
  2. Install the required packages:
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
  1. Allow Bazel's sandboxing to work: Follow the direction in doc/frc971.conf.

Some useful Bazel commands:

  • Build and test everything (on the host system):
bazel test //...
bazel build --cpu=roborio //...
  • Build the code for a specific robot:
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
  • Download code to a robot:
bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local