Team 862 Base Code

[phurley67]

Generic code for a tank based arcade controlled robot. Pretty clean, nice logging, a rudimentary implementation of 254 motion tracking auton.

https://github.com/frc-862/2015-Base.git

There is also a nice little C++ web server we plan on using to manage configuration files and viewing logs. Very little of the the HTML is done; however, the C++ server is complete and functional at:

https://github.com/frc-862/roboconfig.git

Not necessarily saying this is 100% perfect, but it is where we are starting this year, good luck everyone, see you on the field.

[Bpk9p4]

nice code. I like the organization. How do you like the nvax?

[Ari423]

How did you like GitHub with LabVIEW? I have heard very mixed opinions on if it's worth it or whether there's a better way.

[phurley67]

I like the NavX. We did find there was an issue using it and the CAN Talons in a high speed control loop (< 20ms). Moved the NavX code to its own loop, and everything worked great.

We have not yet integrated it into the auton motion profile code, but that is on the list. Hopefully it will make things more precise, time will tell.

As for GitHub and labVIEW -- the real question is labVIEW and any version control system -- they are almost all designed to work best with text files, so labVIEW's binary format adds lots of pain points. It works, but merging is very difficult. The big trick is to never let more than one person, work on the same VI at a given time. One of the main reasons we are looking into switching to Java is for better code merging.

[Caboose]

Hey phurley,

I'm just wondering what type of issues you were seeing, were they with the navX Library or the CAN Talons?
Quick question, why did you need to separate the navX get of YRPHfH to a loop? I also noticed that you were refreshing your navX processing loop at 5ms while you have the navX updating at 50Hz (20ms). Is there a reason as to why you are looping that fast? You will only be receiving new data from the navX at 50Hz.