Robotrs

A port of WPILib and REVLib to Rust for use in the FIRST Robotics Competition.

Security

The hal-sys, ctre, and revlib packages all generate bindings to C libraries at compile time. The headers to these libraries and the binaries themselves are automatically downloaded at compile time. All code related to the downloading of these libs can be found in the build-utils crate and the build.rs of the 3 crates mentioned earlier.

Not affilited with or supported by WPILib, REV Robotics, CTRE, or FIRST

Quick Start

Cargo Generate

0. Install the compiler toolchain by running the installRoboRioToolchain task in allwpilib or downloading from Github and putting the bin directory on the path.
1. First, install cargo-generate using cargo install cargo-generate. Then, generate from the template using cargo generate https://github.com/BlueZeeKing/robotrs.git Remember to change the project name in Cargo.toml
2. Deploy your code by first installing the deployment tool:

cargo install cargo-deploy --git https://github.com/BlueZeeKing/robotrs.git

Then running it in the root directory:

cargo deploy [TEAM NUMBER]

Manual

0. Install the compiler toolchain the same way as in cargo generate step 0
1. Create a new binary Rust crate with cargo new <NAME>
2. Add the following to the ./.cargo/config.toml file

[target.arm-unknown-linux-gnueabi]
linker = "arm-frc2023-linux-gnueabi-gcc"
rustflags = ["-C", "target-cpu=cortex-a9"]

[build]
target = "arm-unknown-linux-gnueabi"

[env]
LIBS_OUT_DIR = { value = "target/lib", relative = true }

3. Add the required dependencies to the Cargo.toml file. For example:

[dependencies]
robotrs = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
revlib = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
ctre = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
anyhow = "1.0.75" # This is an error handling library that is used extensively

4. Add a rust-toolchain.toml file to the root of the project with the following contents:

[toolchain]
channel = "nightly"
targets = ["arm-unknown-linux-gnueabi"]

5. In the src/main.rs file run the scheduler with closure that produces a struct that implements the AsyncRobot trait. For example:

fn main() {
    robotrs::scheduler::RobotScheduler::start_robot(|| example::Robot::new());
}

6. Deploy your code by first installing the deployment tool:

cargo install cargo-deploy --git https://github.com/BlueZeeKing/robotrs.git

Then running it:

cargo deploy [TEAM NUMBER]