Welcome to FRC Team 302’s Software documentation

_images/Team302LogoNew.png

https://team302doco.readthedocs.io/en/latest/

Note

This project is under active development.

Contents

Development Enviornment
- Initial Environment Setup (WPILib + VS Code)
- Software Configuration Management Tools
  - GitHub / Github Desktop
  - VS Code Plugin
- NI Game Tools - Driver’s Station
- Radio
- Rev Hardware
- Phoenix Tuner X
- Balena Etcher
- Choreo
Robot Hardware
- Status Light Quick Reference
- RoboRio
- Radio
  - Configuration Tool
- CTRE Hardware
  - Pheonix Tuner
- REV Hardare
  - REV Hardware Client
- Limelight
  - Limelight Configuration Tool
- Co-Processors
  - Raspberry PI
  - Orange PI
  - Rock PI
  - Jetson Nano
  - Arduino
  - Hero
  - NUC
- Hardware Accelerators
  - Google Coral
Documentation Tools
- Design Documentation
  - DrawIO / Diagrams.net
- Code Documentation
  - Doxygen
Design
- Design Principles
- UML Overview
- Design Patterns
- Fault Tolerant Algoritms
Coding Languages
- RoboRio Robot Code
  - C++
    - Self-paced Tutorials:
    - Training Presentations:
  - XML / DTD / XSD
    - Self-paced Training:
    - Training Presentations:
- Code Generator Code
  - C#
    - Self-paced Tutorials:
    - Training Presentations:
- Co-Processor
  - Python
    - Self-Paced Training
  - OpenCV
  - GRIP
  - TensorFlow
- Hero Board Demo Robots
Base Robot Classes
- Presentations
- Overview
XBOX/Joystick Game Controllers Configuration
Custom Gamepad Configuration Tool
Using Controllers in Robot Code
Driver’s Station / Dashboards
- Driver’s Station
- Dashboards
Chassis
- Swerve
  - Swerve Math
  - Architecture of our Swerve Code
- Differential Drive
- Mecanum Drive
- Kiwi Drive
Mechanisms
- Defining Mechanisms
  - Code Generated
  - Modifyable Files
- Defining States to a Mechanism
  - Code Generated
  - Modifyable Files
- Transitioning between States
Vision / Machine Learning
- Documentation
- Terms
- Vision Use Cases
- Target Types
  - AprilTags
  - Game Piece / Field Element Detection
- Software Solutions on Co-Processor
- Combined Hardware/Software Solutions
Training YOLOv8 Models for Hailo-8
- Prerequisites
  - Hardware Requirements
  - Software Requirements
- Part 1: Setting Up the Training Environment
- Part 2: Preparing Your Dataset
- Part 3: Training YOLOv8 Model
- Part 5: Compile Model with Hailo Docker
- Part 6: Deploy to Hailo-8 Device
  - Copy HEF to Target System
  - Python Inference Code
- Best Practices
  - Training Tips
  - Hailo Optimization Tips
- Troubleshooting
- Additional Resources
- Example Workflow Summary
Roboflow
- Overview
- Roboflow Usage for Object Detection
Path Generation = Choreo
Auton Structure
- Drive Primitives
- Transitions between Drive Primitives
- Events along the Path
- Mechanism State Control
Logging
- Logger
- WPI Logging
Closed Loop Control
- Theory
- PIDF
  - Trapezoid / Motion Magic Profiled PIDs
- Bang-Bang
- CTRE vs. REV vs. RoboRio closed loops
- RAMSETE vs. Holonomic Controller
- Accounting for latency
Plotting/Graphing
- Third Coast Tools
- WPI Tools (glass, shuffleboard)
- CTRE Tools
- Rev Tools
Simulation