FRC team 5584. Est. 2014

 

 

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FIRST

FRC 2019 Software Development Environment

These notes describe the process we can use to establish a working build environment for FRC team 5584 projects for the 2019 season.

We will update notes during the season as we add more software components.

All changes to these notes need to be communicated to all members of the software team.

Notes are based on the instructions at wpiscreensteps, KauiLabs and CTRE, specifically:

  • https://wpilib.screenstepslive.com/s/currentCS/m/cpp/l/1027500-installing-c-and-java-development-tools-for-frc
  • https://wpilib.screenstepslive.com/s/currentCS/m/cpp/l/1027499-installing-the-frc-update-suite-all-languages
  • https://phoenix-documentation.readthedocs.io/en/latest/ch05_PrepWorkstation.html#what-to-download-and-why
  • https://phoenix-documentation.readthedocs.io/en/latest/ch05a_CppJava.html
  • https://pdocs.kauailabs.com/navx-mxp/software/roborio-libraries/c/

There are some different ways to work through these notes ...

  • If you want to just get VSCODE based IDE up and running then work through sections A + B + C + D
  • If you want to get VSCODE based IDE up and running and get an existing project working with third party libraries then work through sections A + B + E + F
  • If you have the time then work through sections A + B + C + D + E + F to build your confidence in the new VSCODE based IDE
  • If you want to install the FRC Update Suite see section G
  • If you need to add vendor library refer to section H
  • If you need to determine existing versions installed refer to section I or J
  • If you need to upgrade an existing instance then refer to section K

When you are ready to deploy and/or use the FRC Driver Station then you will need to install the FRC Updates from National Instruments - see section G to do this.

If you want to make use of KauiLabs libraries then refer to section H

NOTE: I recommend that you discard the code changes that we make here rather than commit them as they are just to verify the correct operation of the environment.

NOTE: I uninstalled all previous versions of National Instruments (NI), Cross the Road Electronics (CTRE), eclipse and Microsoft VSCode as well as MinGW, FRC Radio Config and WinPCAP tools before starting. Some of this was via the control panel and some via the command line. Depending on how many seasons and how you previously installed products on your PC this clean up may take some time. As well as the Windows "Add/Remove Programs" control panel, additional places to look for legacy files are:

  • C:\Users\<username>\wpilib
  • C:\Users\<username>\navx
  • C:\Users\<username>\ctre
  • C:\FRC
  • C:\Users\<username>\.eclipse
  • C:\Program Files\Eclipse
  • C:\ProgramData\chocolatey\lib
  • C:\ProgramData\chocolatey\lib-bad

NOTE: "elevated command prompt" is mentioned below, this means: (i) select windows icon at bottom left of screen; (ii) type "cmd"; (iii) right-click on "Command Prompt" and select "Run as administrator"; (iv) select "Yes" or provide credentials as requested. 

A: INSTALL VSCODE AND ASSOCIATED UTILS

1: Download WPILibInstaller_Windows64-2019.1.1.zip from https://github.com/wpilibsuite/allwpilib/releases

2: Save to local drive (e.g. C:\Temp) and unzip there

3: Check internet connection - new packages are downloaded as part of this process

4: In elevated command prompt . . . 

     cd C:\Temp

     WPILibInstaller_Windows64-2019.1.1.exe

5: Wait for a minute or two for a new window to pop up (yes, it takes ages on my PC)

6: Select "Select/Download VS Code"

7: Select "Select Existing Download" button and navigate to the downloaded file and then hit "open"

     (if you can't find this then you can select "Download" to reaquire the VSCode pato retrieve the "OfflineVsCodeFiles-1.30.1.zip" file)

     (this is saved in the same folder as the exe that we just ran)

8: The VScode options should now all be visible (i.e. no-longer greyed out)

9: Tick all boxes for the main components . . .  

     VScode

     C++ Compiler

     Gradle

     Java JDK/JRE

10: Tick all boxes for extensions and dependencies . . .

     Tools and Utilities

     WPILib Dependencies

     Visual Studio Code Extensions

11: Select "Execute Install"

12: When it is done, "Finished Use Desktop Icon to Open VS Code", select "OK".

13: Create "FRCCODE2019" shortcut on desktop with ...

     path = C:\Users\Public\frc2019\frccode\frccode2019.cmd

     icon = C:\Users\Public\frc2019\frccode

     run = minimised

 

B: INSTALL PHOENIX FRAMEWORK

1: Download CTRE Phoenix Framework v5.12.0.1.zip from http://www.ctr-electronics.com/downloads/installers

2: Save to local drive (e.g. C:\Temp) and unzip there

3: In elevated command prompt . . . 

     cd C:\Temp

     "CTRE Phoenix Framework v5.12.0.1.exe"

4: Select defaults to complete the install of "Lifeboat", "Phoenix Tuner" and "RoboRIO-FRC" -> "C++/Java"

5: Select "Finish" when completed, release notes will be displayed

     (for future reference, the release notes are installed to: C:\Users\Public\Documents\Cross The Road Electronics\RELEASE_NOTES.txt)

     (firmware is installed to: C:\Users\Public\Documents\FRC\...)

     (versioning available here: C:\Users\Public\Documents\Cross The Road Electronics\VERSION_NOTES)

6: Check for Phoenix.json at C:\Users\Public\frc2019\vendordeps\...

7: Check for phoenix files at C:\Users\Public\frc2019\maven\com\ctre\phoenix\...

 

C: TEST SETUP USING A BRAND NEW ROBOT PROJECT

1: Check internet connection - new packages are downloaded as part of this process

2: Double click on the frccode2019 short cut to open VSCode

3: Close "welcome" tab

4: CTRL+SHIFT+P

5: Select "WPILib: create a new project"

6: Select "Select a project type..." and choose "Template"

7: Select "Select a language" and choose "cpp"

8: Select "Select a project base" and choose "Timed Skeleton (Advanced)"

9: Enter path C:\scm\icrobotics\frc\software\cpp

10: Enter project name (e.g. 2019.Gerbils)

11: Enter team number 5584

12: Make sure "Create new folder is TICKED

13: Make sure "WPILib: Set Desktop Support" is UNTICKED

14: Select "Generate Project"

15: When prompted select "Yes (Current Window)"

16: You should observe "Executing task: gradlew generateVsCodeConfig ..." in the terminal window

17: Wait for "BUILD SUCESSFUL" to be reported there.

18: If there is a popup "Intellisense configurations ..." then select "Yes"

 

D: CHECK THAT WE CAN ADD 3RD PARTY LIBRARY (CTRE) OBJECTS TO THE NEW PROJECT

1: In VSCode, right-Click on “build.gradle” in the project tree, then select “Manage Vendor Libraries”.

2: Select “Install new libraries (offline)”.

3: TICK "CTRE Phoenix ..." then select OK

4: We need to add an object that actually uses it ;)

5: In Robot.cpp add ...

       #include "ctre/phoenix.h"

       TalonSRX srx = {0};

       ... after the #include "Robot.h"

6: In Robot.cpp add the fllowing to the top of the Robot::RobotInit method ...

     srx.Set(ControlMode::PercentOutput, 0);

7: NOTE: If Intellisense is still reporting issues then try : Closing all files in the project; Restarting VS Code; Waiting for ~40s; Reopen source files in VS Code

8: Lets try a build with CTRL+SHIFT+P

9: Select "WPILib: Buld Robot Code"

10: Wait for "BUILD SUCESSFUL"

 

E: CHECK THAT WE CAN LOAD AND BUILD AN EXISTING PROJECT

1: Clone or pull latest IC code . . .

       cd /c/scm/icrobotics/frc

       git pull

     or . . . 

       cd /c/scm/icrobotics

       git clone https://github.com/icrobotics-team5584/frc.git

2: checkout known good baseline . . . 

     cd /c/scm/icrobotics/frc

     git checkout KURIOSITY_20190110_1933

3: Launch VSCode using "FRCCODE2019"

4: Select "File" > "Open Folder"

5: Navigate to c:\scm\icrobotics\frc\software\cpp\2019.kuiosity then select "Select Folder"

6: Terminal window will execute task "gradlew generateVsCodeConfig ..." and start the Gradle Daemon

7: Wait for "BUILD SUCCESSFUL"to be reported

 

F: CHECK THAT WE CAN ADD 3RD PARTY (CTRE) LIBRARY TO AN EXISTING PROJECT

(search for "TalonSRX" in the project, if it is found then the previous section has already proved that you can build a project with CTRE dependencies so you don't need to complete this section)

1: In VSCode, right-Click on “build.gradle” in the project tree, then select “Manage Vendor Libraries”.

2: Select “Install new libraries (offline)”.

3: TICK "CTRE Phoenix ..." then select OK

4: We need to add an object that actually uses it ;)

5: In Robot.cpp add ...

     #include "ctre/phoenix.h"

     TalonSRX srx = {0};

     ... after the #include "Robot.h"

6: In Robot.cpp add the fllowing to the top of the Robot::RobotInit method ...

     srx.Set(ControlMode::PercentOutput, 0);

7: NOTE: If Intellisense is still reporting issues then try : Closing all files in the project; Restarting VS Code; Waiting for ~40s; Reopen source files in VS Code

8: Lets try a build with CTRL+SHIFT+P

9: Select "WPILib: Build Robot Code"

10: Wait for "BUILD SUCCESSFUL"to be reported

 

G: INSTALLING THE NI FRC UPDATES

This installs the driver station etc

1: Download unencrypted package FRCUpdateSuite_2019.0.0u.zip from http://www.ni.com/download/first-robotics-software-2017/7904/en/

2: Save to local drive (e.g. C:\Temp) and unzip there (e.g. right click on FRCUpdateSuite_2019.0.0u.zip and select "7-zip" -> "Extract Files")

3: Check internet connection - license needs to be activated as part of this process

4: In elevated command prompt . . . 

     cd C:\Temp\FRCUpdateSuite_2019.0.0u

     setup.exe

5: Select Next > Next

6: UNTICK the "Search ..." and select "Next"

7: Enter ...

   Full Name = FIRST ROBOTICS COMPETITION

   Organisation = Team 5584

   Serial Number = USE.THE.CODE.FROM.WHATSAPP.OR.PIN.BOARD

   ... and select "Next"

8: Accept license agreement and select "Next"

9: Accept license agreement and select "Next"

10: Wait a while :)

11: If prompted with "WARNING: Windows Firewall Might Be Enabled" select "Next"

12: In the "Installation Summary" window, TICK the "Run License Manager ..." and select "Finish"

13: The license manager window and NI credential popup will appear.

14: Either create an NI account and login (or ask someone who has one to login for you).

15: Select "Activate" then "Next" and "Close"

16: Restart PC

 

H: ADDING NAVX LIBRARIES TO EXISTING PROJECT

1: Download navx-mxp.zip (current version is 3.1.344) from https://pdocs.kauailabs.com/navx-mxp/software/roborio-libraries/c/

2: Save to local drive (e.g. C:\Temp) and unzip there

3: In elevated command prompt . . . 

     cd C:\Temp\navx-mxp

     setup.exe

4: If prompted with "Oracle Java v1.7 or newer ..." then select "Yes"

5: In the navx setup window select "Next" then "Install"

(For future reference: the C++ libraries for FRC are automatically installed into a local “maven” repository located at C:\Users\Public\frc2019\maven)

6: In VSCode, right-Click on “build.gradle” in the project tree, then select “Manage Vendor Libraries”.

7: Select “Install new libraries (offline)”.

8: TICK "KauiLabs_navX_FRC ..." then select OK

9: You can now add code that uses the navX libraries :)

 

I: CHECKING VERSIONS OF SOFTWARE INSTALLED MANUALLY

1: VSCODE VERSION INSTALLED - launch application and select "Help" > "About", check the "version" reported in the popup

2: VSCODE WPILIB EXTENSION VERSION IN USE - launch vscode and select "File" > "Preferences" > "Extensions", check the version listed in the "Enabled" list

3: NAVX LIBRARY VERSION IN USE - launch vscode, navigate to build.gradle file, right click and select "Manage Vendor Libraries" then "Manage Current Libraries" (at top of screen), check the version of library in use

4: NAVX LIBRARY VERSION INSTALLED - see "Control Panel" > "Programs and Features"

5: CTRE LIBRARY VERSION IN USE - launch vscode, navigate to build.gradle file, right click and select "Manage Vendor Libraries" then "Manage Current Libraries" (at top of screen), check the version of library in use

6: CTRE LIBRARY VERSION INSTALLED - see "Control Panel" > "Programs and Features"

7: FRC RADIO CONFIG TOOL VERSION INSTALLED - see "Control Panel" > "Programs and Features"

8: NI FRC UPDATE SUITE - this is made up of many parts - for jar files you need to check the content of the manifest.mf file - for exe files you need to check the version reported in the file properties

 

J: CHECKING VERSIONS OF SOFTWARE INSTALLED BY SCRIPT

An alternative to clicking madly around windows as described in the previous section you run the following script in a command prompt . . .

     cd C:\scm\icrobotics\frc\software\perl\utils\softwareinventory

     "c:\Program Files\Git\usr\bin\perl.exe" softwareinventory.pl

. . . this will report version information about the *.jar, *.exe and *.html files currently installed.

This is the output after the currient software baseline . . .

     $ "/c/Program Files/Git/usr/bin/perl.exe" softwareinventory.pl

     INFO: version information extracted from Windoze Software Inventory . . .

       CTRE Phoenix Framework: 5.14.0.0

       FRC Radio Configuration Utility: 19.1.1

       Java: 2.8.201.9

       WinPcap: 4.1.0.2980

       MobaXterm: 10.5.0.3582

     INFO: version information extracted from EXE files . . .

       FRC Driver Station: 19.0.0.49154

       FRC Gamepad Tool: 1.0.0.0

       FRC Dashboard: 19.0.0.49162

       roboRIO Imaging Tool: 19.0.0.49154

       Axis Camera Tool: 19.0.0.1

     INFO: version information extracted from JAR files . . .

       OnlineViewer: 2019.4.1

       PathWeaver: 2019.2.1

       RobotBuilder: 2019.4.1

       Shuffleboard: 2019.4.1

       SmartDashboard: 1.0

       ToolsUpdater: 1.0

     INFO: version information extracted from HTM files . . .

       FRC Documentation: 2019.4.1

 

K: UPGRADING SOFTWARE COMPONENTS

All of the following can be run from an elevated command prompt - search for "Command Prompt" then right click and select "Run As Administrator". In most cases you can install the new version without uninstalling previous version - there are some exceptions ...

1: To upgrade JAVA simply uninstall via "Control Panel" > "Programs and Features" then download new version (e.g. jre-8u201-windows-x64.exe) and run as administrator. This will install to C:\Program Files\Java\jre1.8.0_201.

2: To upgrade the installed CTRE LIBRARY you don't need to uninstall existing version. Simply download the new version (e.g. CTRE.Phoenix.Framework.v5.14.0.0.zip), unzip and run the exe as administrator.

3: You can now select the build.gradle file in the VSCODE project and then select "Manage Vendor Libraries" > "Check for updates (offline)" the new CTRE library version should be listed, tick and select "ok" to apply to the project.

4: To upgrade he installed NAVX LIBRARY you don't need to uninstall existing version. Simply download the new version (e.g. navx-mxp.zip), unzip and run the setup.exe as administrator.

5: You can now select the build.gradle file in the VSCODE project and then select "Manage Vendor Libraries" > "Check for updates (offline)" the new NAVX library version should be listed, tick and select "ok" to apply to the project.

6: To upgarde the VSCODE WPILIB EXTENSION download the WPILIB Installer (e.g. WPILibInstaller_Windows64-2019.4.1.zip) and extract. Run the exe as administrator. Select the "Select / Download VS Code" button then "select exisiting" and navigate to the previously downloaded OfflineVsCodeFiles-1.30.1.zip file then select "Execute Install". The next time you start VSCODE you will be prompted to upgrade the project to the new WPILIB EXTENSION version.

7: To upgrade FRC RADIO CONFIG TOOL version simply uninstall via "Control Panel" > "Programs and Features" then download new version (e.g. FRC_Radio_Configuration_19_1_1.zip), extract and run as administrator. This will install to  "c:\Program Files (x86)\FRC Radio Configuration Utility"

8: To upgrade NI FRC UPDATE SUITE download the package from NI website (e.g. ) and unzip then run the setup.exe as administrator. You will be prompted to search (UNTICK that) and for user details and serial number, use ...

     Full Name = FIRST ROBOTICS COMPETITION

     Organisation = Team 5584

     Serial Number = (see firstinspires.org mentor login or for our team the "IC Software" whatsapp thread)

 

What is FIRST?

 

 

FIRST, which stands for "For Inspiration and Recognition of Science and Technology" is an organisation founded by inventor, Dean Kamen, in 1989. Established in New Hampshire USA, FIRST was designed to engage students aged 6 - 18 in science, technology, engineering and maths. Students who participate in the FIRST program work alongside industry mentors to gain workplace-ready skills. FIRST inspires students to be problem solvers, pursue careers in STEM-related fields and become the leaders and innovators of their generation. ICRobotics compete in FIRST Robotics Competition (for ages 14 - 18) - one of four programs that make up FIRST.

 

 

NVIDIA Jetson TK1 Image Pipeline Development and Integration with FRC Robot

These notes describe how to set up, build and use an image pipeline generated using the GRIP program on an Nvidia Jetson TK1 development board. Instructions are included for the setup of the Jetson, construction of the pipeline code and integration with network tables libraries. The setup includes notes for a development "workbench" configuration as well as "robot configuration" where the JETSON is mounted on and powered by the onboard FRC robot battery.

Read more: NVIDIA Jetson TK1 Image Pipeline Development and Integration with FRC Robot

Software Versions to use this Season

As we evolve as a team the software footprint increases in complexity. This article aims to provide a baseline of third-party software components (and the relevant versions for the current season). The versions listed here relate to the 2018 season (Jan 2018 +) and we can expect at least some of these to shift during the build season.

NOTE: if any updates are made to this page during the build season please notify the entire software team by email when you make the change.

Software versions for development and deployment of our C++ based robot code:

  • NI FRC Update Suite: 2018.1.0 (see: http://www.ni.com/download/first-robotics-software-2015/5112/en/)
  • FRC Driver Station version number 18.0 (shipped in FRC updates package)
  • Eclipse FRC Development Plugins: 2018.3.3 (see http://first.wpi.edu/FRC/roborio/release/eclipse/)(check dates on files listed there and in site.xml there for the version)
  • FRC RoboRIO C++ Toolchains: 5.5 (see http://first.wpi.edu/FRC/roborio/toolchains/)
  • FRC Radio Configuration Utility: 18.1.0 (follow "FRC Radio Configuration 18.1.0" link on https://wpilib.screenstepslive.com/s/currentCS/m/getting_started/l/144986-programming-your-radio)
  • WinPcap: 4.1.3 (see https://www.winpcap.org/install/default.htm)
  • Eclipse CDT: 4.7.0 (Oxygen) (see https://www.eclipse.org/oxygen/)
  • CTRE Phoenix Framework: 5.2.1.1 (see http://www.ctr-electronics.com/control-system/hro.html#product_tabs_technical_resources) [NOTE: new versions posted to CTRE website 20-Feb (v5.3.0.0) and 26-Feb 5.3.1.0] - too late to test do not use these versions this season - release notes available here: https://www.ctr-electronics.com/downloads/release_notes/RELEASE_NOTES]
  • MinGW: 5.3.0 (see http://www.mingw.org/category/wiki/download)
  • NavXmxp 3.0.347 (see https://www.pdocs.kauailabs.com/navx-mxp/software/roborio-libraries/c/)
  • JDK: 8.8.0.152 (see http://www.oracle.com/technetwork/java/javase/downloads/index.html)

On the Robot:

  • RoboRIO image version: FRC_2018_v17 (shipped in FRC updates package)
  • CAN device firmware versions:
    • Talon SRX: 3.3 (see http://www.ctr-electronics.com/downloads/firm/) [NOTE: new versions posted to CTRE web site 20-Feb (v3.8) - too late to test - do not use these versions this season]
    • PDP: 1.40 (see http://www.ctr-electronics.com/downloads/firm/)
    • PCM: 1.65 (see http://www.ctr-electronics.com/downloads/firm/)

Additional software:

  • GRIP: 1.5.2 (see https://github.com/WPIRoboticsProjects/GRIP/releases)
  • MobaXterm: 10.4 (alternative for putty+xming) (see https://mobaxterm.mobatek.net/)
  • YawCam:0.6.0 (see http://www.yawcam.com/)
  • GIT: 2.15.0 (see https://git-scm.com/download/win)
  • Strawberry Perl: 5.26.1.1 (see http://strawberryperl.com/releases.html)

The development environment now has many moving parts so we will now deploy the above using chocolatey - contact the author of this page for a distribution of self-contained chocolatey packages:

  • 7zip.install 16.4.0.20170506
  • arduino 1.8.5
  • autohotkey.portable 1.1.26.01
  • chocolatey 0.10.8
  • chocolatey-core.extension 1.3.3
  • ctrephoenixframework 5.2.1.1
  • ctretoolsuite 4.4.1.14
  • eclipse 4.7.0.20170612
  • frcradioconfig 18.1.0
  • frctoolchain 5.5
  • frcupdatesuite 2018.1.0
  • git 2.15.0
  • git.install 2.15.0
  • grip 1.5.2
  • jdk8 8.0.152
  • legomindstormsev3 1.3.1
  • mingw 5.3.0
  • MobaXTerm 10.4
  • navxmxp 3.0.347
  • StrawberryPerl 5.26.1.1
  • WinPcap 4.1.3.20161116
  • yawcam 0.6.0

 

FRC Projects in VS Code

CREDIT: these steps are based on the ALPHA TEST notes on the WPILIB SCREEN STEPS LIVE website (see https://wpilib.screenstepslive.com/s/currentCS/m/79833/c/259485)

Initial Setup

(as described in wpilib screen steps live link above)

1: Install VSCODE (available at chocolatey.org as well as IC chocolatey USB stick)

2: Install "C++" plugin

3: Install "Java extension pack" plugin

4: Download WPILib vsix file from https://github.com/wpilibsuite/vscode-wpilib/releases/tag/v2019.0.0-alpha-4

5: Import WPILib vsix file

6: Install C++ Toolchains (version 5.5, same version that we used for 2018 season - available via IC chocolatey USB stick :))

Import an existing project

(these notes assume that you have project in the same location that we used for 2018 season, i.e. c:\scm\icrobotics\frc\software\cpp\2018.Luigi\...)

1: Open WPILIB command palette ("w" icon top right)

2: Select "WPILib: Upgrade a WPILib Eclipse Project"

3: Select "Select an eclipse project"

4: Browse to C:\scm\icrobotics\frc\software\cpp\2018.Luigi\build.properties and select "Select a project"

5: Select "Select a new project folder" and enter a new folder name that does not exist yet (e.g. c:\scm\icrobotics\frc\software\cpp\2018.Luigi.VSCode)

6: Tick the "Create new folder" checkbox

7: Leave the project name unchanged as "2018.Luigi"

8: Enter team number (e.g. "5584") then select "Upgrade Project"

9: A popup asks you to open the folder select "Yes (Current Window)"

10: A popup asks "No C++ configurations. Yes to refresh" select "Yes"

11: The text "Executing task: gradlew generateVsCodeConfig" will be reported ... wait for this to complete

12: Eventually "BUILD SUCCESSFUL in 3m 50s" or similar will be reported

Perform Build

1: Open WPILIB command palette ("w" icon top right)

2: Select "WPILib: Build Robot Code"

3: The text "Executing task: gradlew assemble" will be reported (possibly with a shedful of errors)  ... wait for this to complete

4: If errors like "No such file or directory" and "compilation terminated" are reported then try making the following changes to the build.gradle file ...

Replace ...

            sources.cpp {
                source {
                    srcDir 'src/main/cpp'
                }
                exportedHeaders {
                    srcDir 'src/main/include'
                }
            }

With ...

            sources.cpp {
                source {
                    srcDir 'src/main/cpp'
                    include "**/*.cpp"
                }
                exportedHeaders {
                    srcDir 'src/main/cpp'
                    include "**/*.h"
                }
            }

5: Open WPILIB command palette ("w" icon top right)

6: Select "WPILib: Build Robot Code"

7: This time you should see "BUILD SUCCESSFUL in 23s" or similar

8: There should be an executable ready for deployment at c:/scm/icrobotics/frc/software/cpp/2018.Luigi.VSCode/2018.Luigi/build/exe/frcUserProgram/frcUserProgram

Deploy Code to the Robot

1: Open WPILIB command palette ("w" icon top right)

2: Select "WPILib: Deploy Robot Code"

3: If all s well you should see "BUILD SUCCESSFUL in 15s" or similar