TEAM 7407 DriveCode for the 2021 Rapid React Competition

Getting Started:

Clone the repository code onto your computer:

git clone https://github.com/Choate-Robotics/7407-DriveCode-2021-Python.git

If you prefer ssh:

git clone [email protected]:Choate-Robotics/7407-DriveCode-2021-Python.git

If you don't have Poetry installed already:

Linux and Mac (Intel, Not M1. If you have an M1 or M2 mac, please see "MAC M INSTALLATION" section at the bottom.

curl -k https://install.python-poetry.org/ | python - 

You might have to replace "python" at the end with "python3" or "python3.10" depending on how python is configured in your system.

Windows Powershell

(Invoke-WebRequest -Uri https://raw.githubusercontent.com/python-poetry/poetry/master/get-poetry.py -UseBasicParsing).Content | python -

Further information can be found here: https://python-poetry.org/docs/

Make sure to add Poetry to your path.

With Poetry Installed:

poetry shell

poetry install

Deploying Code:

Connect to the robot's wifi. python robot.py deploy If absolutely necessary, use python robot.py deploy --no-version-check to avoid WPILib version issues on the robot.

Best Practices

Commenting

Comment, comment, comment!

• Use block quotes to start any function with parameters, and every class's "__init__" function. Block quotes should contain:
  • Summary
  • Arguments, with types and descriptions
  • Return description There are many extensions to help with docstrings. Examples include:
    • autoDocstring on VsCode
    • On PyCharm
      • Place your cursor over a function or class name.
      • Alt-Enter
      • Generate documentation string stub
• Use single line comments for any function without parameters with a description of the function.
• Use single line comments before any complex function to describe how it works, and to the right of any line or variable that is very complicated.
• Use TODO comments freely.

Adding libraries

Always use poetry add {library} to add libraries. This ensures that libraries are compatible and allows everyone to work easier. Never, ever, edit poetry.lock or pyproject.toml manually.

Committing, Pushing, and Pulling

To commit:

git add .
git commit -m "Message"

To push:

git push

To pull:

git fetch
git pull

Branching

To branch, first make sure that all your local changes are committed. If you would like to abandon the changes, run git reset --hard. Be very careful with resetting. To branch: ``git branch {branch name}

Branch names are as follows:

• Subsystem Initialization branch format: init/{subsystem}
  • Example: init/shooter
  • Example: init/drivetrain
• Feature branch format: feat/{subsystems}/{feature}
  • Example: feat/shooter/optimized_shooting
  • Example: feat/intake-index/ejection
• Fix branch format: fix/{subsystems}/issue
  • Example: fix/camera_server/wrong_ports
  • Example: fix/robot/network_loop_time
  • Example: fix/sensors/clean_up
• Competition branch format: comp/{competition}/day/{day}
  • Example: comp/battlecry/day/0 (load_in, initial setup, configurations)
  • Example: comp/hartford/day/1

Pull Requests

To integrate a branch with branch Master, create a pull-request with the same title as your branch. Make sure pre-commits pass before pushing to ensure clean code. Do not approve the pull request manually; wait for the programming lead or mentor to approve the request.

Debugging:

Logger

• USE LOGGER! It makes it easier on everyone to debug. (logger is a python library made for logging)

Smart Dashboard/Shuffleboard

• Shuffleboard is preferred over the Smart Dashboard and console for debugging. To use shuffleboard, just push a string, number, boolean, or similar value to the SmartDashboard using "wpilib.SmartDashboard.pushNumber ..." etc. The value is then accessible through ShuffleBoard.

Resources

• RobotPy Documentation We love RobotPy!
• WPILib Documentation RobotPy is just a wrapper for the WPILib C++ Code. Most of the structure remains the same.
• Chief Delphi Many a sensor problem have been fixed by looking here.
• 7407 DriveCode-2021-Python Worlds level code!

MAC M INSTALLATION

In terminal:

      softwareupdate --install-rosetta

Open terminal in finder (right click on terminal icon and open in finder) Make a copy of the terminal icon in finder. Right click on the new copy and select "Get Info", check the box that says "Open with Rosetta"

Open the new Rosetta terminal. This terminal will be used to run intel python.

In Rosetta terminal:

      arch -x86_64 /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

      # Wait for homebrew to finish installation.

      arch -x86_64 /usr/local/bin/brew install [email protected]

      # Wait for python to finish installation
      # Try to run the following command. If it fails, replace "python3.10" with "python3" and make sure the output contains python3.10.

      arch -x86_64 /usr/local/bin/python3.10

      # To exit the python interpreter

      exit()
      
      # If you want a convenient alias for intel python, run the next command with the successful python from the last command:

      echo "alias python86='arch -x86_64 /usr/local/bin/python3.10'" > ~/.zshrc

      # Installation of x86 poetry:

      python86 -m pip install poetry

      # After poetry installation is complete, change into a directory where you want python programs

      git clone https://github.com/Choate-Robotics/7407-DriveCode-2021-Python.git
      cd 7407-DriveCode-2021-Python
      python86 -m poetry install
   
      # To open virtualenv shell (Run this every time you open a new terminal in that folder)
      python86 -m poetry shell

Please let me know if there are any problems.