frcrs

frcrs is a robotics control framework designed to streamline the development of control systems for FRC robots. It provides a highly modular architecture, focusing on creating independent and reusable subsystems to simplify the overall control structure of the robot.

Features

• Modular Subsystem Structure: Each robot subsystem (e.g., Drivetrain, Shooter) is separated into individual modules, promoting clean, maintainable code.
• Easy Integration: Easily integrate into a runnable robot, will build with no hassle
• Asynchronous: Asynchronous tasks, allowing efficient control of subsystems in real-time scenarios.

Subsystem Overview

The main design principle of frcrs is to split robot functionality into independent subsystems. Each subsystem is responsible for controlling a specific part of the robot, such as the drivetrain, shooter, or intake mechanism.

• Subsystems: Implemented using Rust structs, subsystems encapsulate the hardware interface and logic for a specific component of the robot.
• Controllers: Subsystems are controlled via Joystick or other input mechanisms, which can be passed into the subsystems as needed.
• Communication: Subsystems communicate with each other through shared ownership patterns, using Rc<RefCell<>> to manage state in a safe and efficient way.

Example Usage

Here’s an example of how a subsystem might be implemented in frcrs:

use frcrs::ctre::SRX;
use crate::constants;

pub struct Drivetrain {
    left: SRX,
    right: SRX
}

impl Drivetrain {
    pub fn new() -> Self {
        Self {
            left: SRX::new(constants::drivetrain::LEFT),
            right: SRX::new(constants::drivetrain::RIGHT)
        }
    }

    pub fn drive(&self, left: f64, right: f64) {
        self.left.set(-left);
        self.right.set(-right);
    }
}

See an example here

Getting Started

1. Clone the Repository

   git clone https://github.com/Team-2502/frcrs.git
   
   cd frcrs
   
   

2. Ensure that you have Rust and cargo installed. You can install Rust here
3. Install Java 17, the same for FRC
4. Install rust target

   rustup target add arm-unknown-linux-gnueabi
   
   

5. Install toolchain

   git clone https://github.com/wpilibsuite/allwpilib.git
   
   cd allwpipib
   
   ./gradlew installRoborioToolchain
   
   

6. Add directory to path $HOME/.gradle/toolchains/frc/YYYY/roborio/bin where YYYY is the year of the toolchain
7. Build frcrs with cargo build --release --target arm-unknown-linux-gnueabi
8. Create robotcode, see an example here
9. Deploy your code, see deploy crate for deployment. An example toml is here

   [deploy]
   
   team_number = 2502
   
   executable = "target/arm-unknown-linux-gnueabi/release/robotcode"
   
   lib = "javastub.jar"
   
   frontend = "talon-board/out"
   
   frontend_dest = "/home/lvuser/talon-board/out"
   
   

Contributing

We welcome contributions! If you have suggestions for improvements or find bugs, feel free to create an issue or submit a pull request.

1. Fork the repository
2. Create a feature branch
3. Commit your changes
4. Push to the branch
5. Open a pull request

License

This project is licensed under the MIT License - see the LICENSE file for details.