Windows: gradlew build
MacOS/Linux: ./gradlew build
Note: On macOS and linux, gradlew does not have permission to run immediately. Run the following: sudo chmod +x gradlew
Purpose: CrevoLib is a set of tools to be used on top of WPILib. It features a new project template, subsystem based, which is roughly based on the Command Based system of WPILib. Other features include:
- Auton Manager (Based on 254s)
- Motion Profiling Manager
- Handles streaming and running motion profiles generated by Pathfinder to the TalonSRXs
- Joystick wrapper class for XInput controllers
- Configuration file reader
- Logging systems
DriveTrain: This is relatively self explanatory. Contains the source code for a two speed west coast drive. Also contains commands for turning to an angle, driving distances, driving for a set time, and running a motion profile.
Elevator: Subsystem containing two commands. Default command contains the code for handling driver input. The other command utilizes the Talon's Motion Magic control mode to run the elevator to a preset position. There is a position for every scoring position.
Climber: Contains the code for both the gorilla arm, the mechanism which lifts the front wheels onto the hab platform (level 2 and 3), and the pogo, which raises the back end of the robot to match. All code in this case is teleop and therefore only contains the default command.
Intake: Contains the code for the four bar intake which extends outside frame perimeter. The default command contains driver input and sets the motor state. The setExtensionState command does what it says, sets the extension state. This is separated from the default command due to the elevator setting the extension state.
Roller Claw: Contains the code for the intake mounted to the robot. This code only contains the default command as well as a getter checking if the claw has a cargo.
Hatcher: Contains the code for the hatch mechanism. Contains only the default command.
Logging is done using the badlog library: https://github.com/dominikWin/badlog To display the log in a graphical format, transfer the log file from the roborio and use the following program to convert it to an html file: https://github.com/dominikWin/badlogvis. This file can then be opened in a web browser.