Code For The 2015 Robot
In order to build code and view the source without errors in eclipse, the correct FRC software must be installed and the WPI libaries must be linked to the project.
Follow these instructions to install the FRC software for eclipse: http://wpilib.screenstepslive.com/s/4485/m/13809/l/145002-installing-eclipse-c-java
When the project is cloned eclipse may show an unbound classpath error. This occurs when eclipse can't find the WPI libary JAR files, and may occur even when the proper software is installed. To fix this add the missing JAR files to the class path:
- In eclipse right click on project and select properties.
- In the properties window select buildpath and open the libraries tab.
- Change the classpath variable for wpilib and networktables to point towards the correct JAR files. These are found by default for windows in C:\users\[username]\wpilib\java\current\lib\ (for linux: ~\wpilib..).
This code is structered based on discussions the ToasterTech programming team had over the fall 2014 training and the early weeks of the build season.
The team determined that we wanted have a way to test code without a robot present. We decided to decouple the code that interfaces with the hardware the more complex control logic and control of the hardware. This is accomplished by using 3 different classes to control a subsystem.
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Systems: Control the hardware componenets. This class turns motors on and reads sensors and provides an interface to read/set them.
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Logic: Controls the different actions the hardware can do and keeps track of state. This is where lift height would be tracked, and commands to move the lift up and down to preset heights would be.
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Behavior: Controls what order to do actions in. Generally used for mapping joystick actions in teleop and for preprogramming a list of actions in autonomous. This ensures that both autonomous and teleop use the same tested code to control the systems. These can be changed for each system as the robot runs.