First Steamworks code

mikets · April 24, 2017, 1:31pm

World Championship is over for us. We are archiving our code. For those who are interested, you can find it at:

This code features a pixy camera for vision with almost 100% success on autonomous gear at any starting position.

MikePerreman · April 24, 2017, 10:25pm

Cool! Will definitely make for an interesting read!

codehammer · April 27, 2017, 8:21pm

I took a look at your team’s code and it looked like your class is extended by a platform dependent class. Where can I access that? I also want to know if your code supports serial port and I2C. If it supports both, which one do you guys prefer me to use?

mikets · April 27, 2017, 8:51pm

I am assuming you are referring to the Pixy camera support. If so, the platform dependent code is here:

github.com

trc492/Frc2017FirstSteamWorks/blob/master/src/frclib/FrcPixyCam.java

/*
 * Copyright (c) 2017 Titan Robotics Club (http://www.titanrobotics.com)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.

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Our framework library is shared between FRC and FTC. The platform independent code is located in trclib and the platform dependent code is located in frclib (for FRC) and ftclib (for FTC and not in this repo).
And yes, the platform dependent class supports both serial and I2C. Both works but we prefer I2C because we had some issues with the serial port support in WPILib. It will occasionally give us “framing error exception” unless we lower the baud rate to 9600. So we switched to I2C and it’s been very reliable.
Let me know if you have any questions about the code.

codehammer · April 27, 2017, 10:10pm

Thank you very much for answering all my questions. The code looked fine when I looked at it. But, if I have problems when testing and I can’t figure it out what the problem is, I will make sure our team gets back to you.

Again, thank you very much for your support!

system · January 5, 2020, 9:27am