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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 61bdc608f02249c16394be9fcdb091f1d7c2b8c3
commit61bdc608f02249c16394be9fcdb091f1d7c2b8c3[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Sun Dec 04 19:10:10 2016 -0800
committerAustin Schuh <austin.linux@gmail.com>Fri Dec 23 18:33:21 2016 -0800
treeb050cd4104f515de5439e799f7c29c631c085162
parent3970080eb24f8853556d4f05360a1cf33fc0f1d5 [diff]
control loop timeout code now uses robot_state->outputs_enabled

The outputs_enabled flag falls low as soon as the robot disables the
outputs.  They will stay at the last value that was commanded before
it disables for 100 ms, but we can conservatively tell the robot that
they are disabled at that point (since they practically are).

Change-Id: I47f883591dbe2e3696d3958a0ce4281232a5f1e1
12 files changed
tree: b050cd4104f515de5439e799f7c29c631c085162
  1. aos/
  2. build_tests/
  3. compilers/
  4. debian/
  5. doc/
  6. frc971/
  7. third_party/
  8. tools/
  9. y2012/
  10. y2014/
  11. y2014_bot3/
  12. y2015/
  13. y2015_bot3/
  14. y2016/
  15. y2016_bot3/
  16. .clang-format
  17. .gitignore
  18. LICENSE.txt
  19. NO_BUILD_AMD64
  20. NO_BUILD_ROBORIO
  21. README.md
  22. 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: 0. Set up the required APT repositories: Download frc971.list and llvm.org.list and put them in /etc/apt/sources.list.d/.

  1. Install the required packages:
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 //... -- $(cat NO_BUILD_AMD64)
bazel build --cpu=roborio //... -- $(cat NO_BUILD_ROBORIO)

The NO_BUILD_{AMD64,ROBORIO} files contain lists of the targets which are intentionally not built for the various CPUs.
  • 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