2026 Training

General Project Structure

Code subsystems interact with hardware subsystems by: 1. writing to motors and 2. receiving sensor data.

Commands set targets to these subsystems. Some commands are like actions, such as moving the arm to a setpoint, or deploying the intake. Commands can be compounded to form more complex routines and autos.

graph TD
    A[src]
    A1[y2024] --> C1[cpp]
    C1 --> C2[subsystems]
    C1 --> C3[commands]
    C1 --> C4[autos]
    C1 --> C5[main.cpp]
    C1 --> C6[FunkyRobot.cc]
    A1 --> B1[include]
    B1 --> B2["headers for all files in cpp"]
    A1 --> D1[resources]
    D1 --> D2["miscellaneous"]
    D1 --> D3["vision code"]
    A --> E[deploy]
    E --> E2["Nothing yet. Files here go on RIO during deploy and are accessible by robot code"]
    F["frc846 (arch)"] --> F1["motor control classes, logging classes, prefs, etc."]
    G[build] --> G1[tmp]
    G1 --> G3["Build Logs here. Generated by WPILib build tools, not us."]

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First Time Setup - Windows

--Downloads--

WPILib Tools

• Download WPILib tools and WPILib VSCode. Attached are links for versions 2026.2.1.
  • 2026.2.1 WINDOWS
  • 2026.2.1 MACOS ARM
  • 2026.2.1 MACOS INTEL
• Once downloaded, double click on the file. By default, it will be saved in the downloads folder.
• Run the .exe file inside of it. It should be called "WPILib Installer".
• Go through the default setup process.
  • Install everything, NOT tools only.
  • When you get to the installation for WPILib VSCode, select "for this computer only".

Git

• Create a GitHub account (which you should already have if you can access this?).
  • If haven't already, send your username to me so I can add you to our organization. This allows you to modify/edit files.
• Download git-scm from here.
  • For most people, 64-bit standalone installer.
• Run the file downloaded.
• Go through setup process.
  • If unsure, select default options.

If unfamiliar with GitHub, go through tutorials in the Using Git section.

LLVM

• Download LLVM
  • Run the downloaded file, go through setup process.
• If "Add LLVM to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\LLVM\bin to PATH
  • Read this for more information on adding files to PATH.

CppCheck

• Download CppCheck.
• If "Add CppCheck to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\Cppcheck to PATH
  • Read this for more information on adding files to PATH.

--Setup--

• Clone the repository.
  • Run: git clone https://github.com/Team846/2026-training.git in terminal.
• Open WPILib VSCode
• In WPILib VSCode, open the folder containing the cloned repository.
  • The path will be path the clone command was run in + 2026-training
• DO NOT change the gradle file. If WPILib VSCode prompts an update to the gradle file, click CANCEL.
• Click on the WPILib icon (the W in the top right corner).
• In the dropdown list, click on C++: Refresh C++ Intellisense.
• If it succeeds, the code has been successfully setup on your computer.
• Read the First Build section.

Deploying:

• When trying to deploy the code to the robot, connect to the robot using either an ethernet cable or by connecting to the radio's network.
• Then, run 'Deploy robot code'.

First Time Setup - MacOS

Read through the setup process on Windows. This section will only outline the differences. You may need to install homebrew.

--Downloads--

Select x64 or arm depending on your chip. If using an Apple Silicon (M1,M2, etc.) mac, select arm.

Ignore the LLVM section.

• WPILib 2026.2.1
• git-scm.
• Clang-format: brew install clang-format
• CppCheck: brew install cppcheck

--Setup--

WPILib VSCode is installed in a hard-to-find directory on MacOS. It is usually located in ~/wpilib/202x/vscode/ and is called "Visual Studio Code". For example it can be located in /Users/funkymonkey/wpilib/2026/vscode. If you need help finding it, ask someone who has previously installed WPILib VSCode on MacOS.

It is a good idea to rename the file or move it into your Applications folder and pin it in dock for easy access and differentiation from normal VSCode.

WPILib VSCode will have a W icon in the top right corner, wherease normal VSCode will not.

First Build

• Click on the WPILib icon in the top right corner of WPILib VSCode.
• Click WPILib: Build Robot Code.
• If the code fails to build, it is most likely your fault. Fix the code you changed.
• If you didn't change anything, then ask me for help.

A first build can take over 10 minutes. Subsequent builds should be under 5 minutes.

Deploying Code to the Robot

• Get permission from a Software Lead.
• Connect to the robot's network or connect directly using an ethernet cable.
• Run WPILib: Deploy Robot Code.
• Do not disconnect, stop, or power-cycle the robot for any reason during the deploy. This may damage the RoboRIO.

Using Git

• What is Git?
• Configure
  • Only read the "Configure Git" section
• Commits
• Branches
• Branch merging
  • Not as important as the other ones

I have old code, I need to update it:

• git pull

I have new code which has been verified by a Software Lead. I need to give others access to it:

• git add . <-- The "." means all files
• git commit -am EXAMPLE_COMMIT_MESSAGE
• git push

I need to switch to a branch:

• git checkout -b NAME_OF_BRANCH <-- to create a new branch
• git checkout NAME_OF_BRANCH <-- to switch to an existing branch

I need to go back to a previous commit:

• git log
• Press SPACE to scroll down and Q (lowercase) to exit.
• Find the hash (the random series of characters/numbers) for the commit you want.
• git checkout HASH

To undo the going back:

• git switch - <-- goes back to latest commit

CppCheck Warnings

src/frc846/cpp/frc846/math/collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
src/frc846/cpp/frc846/math/collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
src/frc846/cpp/frc846/math/collection.cc:65:0: warning: The function 'modulo' is never used. [unusedFunction]