This is the vendor template for FRC 5010 Tiger Dynasty common codebase.
https://frc5010.github.io/FRC5010Lib/frc5010Lib.json
The code is located under src/main/java/org/frc5010/common and is split into several sub folders
- arch - contains architectural files that undergird the library
- commands - common commands
- config - classes that read json config files to build a robot
- constants - folder for constants files
- drive - classes for defining drive systems and pose localization
- mechanisms - mechanisms can be used to organize commands and subsystems if needed
- motors - classes for handling motors and motor functions
- sensors - classes for handling many different types of sensors
- subsystems - classes for predefined subsystems
- telemetry - logging classes
- vision - additional classes for vision, some are deprecated
- units - classes that standardize unit conversions and usage
Why a library?
- A place to retain things learned from year to year that is common to any code we write in the future
- Versioning allows previous robots to stay working as the library is updated
- Shared code across multiple robot projects means updates can be shared easily
- Code in the library can't be touched and broken by untested changes and remains in a known working state.
For Java, the library name will be the folder name the build is starts from.
For the maven artifact names, those are all in publish.gradle about 40 lines down.
This uses gradle, and uses the same base setup as a standard GradleRIO robot project. This means you build with ./gradlew build, and can install the native toolchain with ./gradlew installRoboRIOToolchain. If you open this project in VS Code with the wpilib extension installed, you will get intellisense set up for both C++ and Java.
By default, this template builds against the latest WPILib development build. To build against the last WPILib tagged release, build with ./gradlew build -PreleaseMode.
- Copy the library code under src to FRCLibraryExample - dev branch to ensure the latest code is being used
- Make code changes in FRCLibraryExample - dev branch, test and simulate
- Bring changes back over to this code base
- Update the version in frc5010Lib.json (2 places) and publish.gradle (pubVersion)
- Build the code
- If needed, in a terminal, run > .\gradlew.bat :spotlessApply
- Run > .\update.bat to create the new version files
- Commit and push