Robot Firmware FRC 2024

Features

• Built-in Lua interpreter.
• Smart bot configuration with Lua bindings and negligible overhead.
• Fast code deploys when c++ doesn't need recompiled.
• Ultra low latency performance.
• Design is decoupled from wpilib making it portable to other robotics systems.

Clone

git clone --recursive git@github.com:snidercs/bot-2024.git

Clang Format

The c++ code should be formatted before submitting pull requests. Do this with python or gradle.

# Run the python script directly
python3 util/format.py
# or do it wrapped in a gradle task
./gradlew clangFormat

Requirements

Dependencies

The gradle build and gradle deploy tasks both need roboRIO libraries and headers in place. Most of them are handled by wpilib, but some need special attention.

Note: For Windows GitBash and the CMD prompt are both needed.

LuaJIT

The build requires LuaJIT, which WPIlib does not provide. It must be compiled manually.

Linux

# multilib support is needed for cross building, install if needed
sudo apt-get install gcc-multilib g++-multilib
# Run the native/roborio build scripts
util/build-luajit-linux64.sh
util/build-luajit-roborio.sh

macOS

The Mac build script can produce arm64 or x86_64 binaries. It will select the system default if not specified.

# Choose one of these...
util/build-luajit-macos.sh # Use system default
util/build-luajit-macos.sh arm64 # force arm64 (M1/M2/..) build
util/build-luajit-macos.sh x86_64 # force an x86_64 (intel) build

# If docker is isntalled and running...
util/docker-run.sh util/build-luajit-roborio.sh

Windows

The build script can be run from a GitBash terminal:

# In a bash emulator
util/build-luajit-msvc.sh

The roboRIO binaries need docker to compile from Windows which requires a regular CMD prompt:

util\docker-run.bat util/build-luajit-roborio.sh

Firmware Build with WPIlib VSCode

After LuaJIT is compiled, open a terminal and do:

./gradlew build

Firmware With Docker

./dockerbuild.sh

Testing

Run all unit tests.

./gradlew check

Deployment

Run the following command to deploy code to the roboRIO

./gradlew deploy

If it gives problems, cleaning the project could help. The --info option could give more information too.

./gradlew clean
./gradlew deploy --info