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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 81cf4599edc0824c901a6bd2cdb4b411c52948da
commit81cf4599edc0824c901a6bd2cdb4b411c52948da[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Sat Feb 17 13:42:29 2018 -0800
committerAustin Schuh <austin.linux@gmail.com>Sat Feb 17 14:06:51 2018 -0800
tree7ba44be223bd0cc27fea2f12743df5d34187ad74
parent385b07e8f4693c87c39458b9fe1a8abd2b8ae4f7 [diff]
Switch to an arm path with stored velocity and acceleration vectors

The derivatives are now smooth enough to remove the artifacts that
were there before.

Change-Id: Ia7e763532b63be9d1925bf6df61f9deecf4e587b
2 files changed
tree: 7ba44be223bd0cc27fea2f12743df5d34187ad74
  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