FRC3484_Lib

This repository holds common code for 3484 in Python

Included Features

• Controls - Abstracts the hardware controller inputs, to allow for any controller input to appear as any other type. This implements a more convenient interface for interacting with OI
• LEDs - Common LED code for robots
• Motion - Motor template classes, which allows for creating motors in subsystems without any of the repeated code for setup, PID, and feed forward.
• Pathfinding - Code for handling pathfinding with Pathplanner, and for finely aligning to locations on the fields
• Pose Manipulation - Helper functions for handling AprilTag poses and applying offsets to them
• Vision - Code for getting the current pose of the robot based on visible AprilTags

Installing

Pip

Open your robot project, and create a virtual environment:

cd RobotCode
python -m venv .venv
source ./.venv/bin/activate # This may vary depending on your OS

Install the library:

pip install git+https://github.com/FRC-Team3484/FRC3484_Lib_Python

Pyproject

Add the following to your pyproject.toml:

requires = [
    "frc3484 @ git+https://github.com/FRC-Team3484/FRC3484_Lib_Python.git@main"
]

Then, update the robotpy cache:

robotpy sync

Updating

Locally

If installed with pip, you may have to forcefully reinstall the library to get the new changes:

pip install git+https://github.com/FRC-Team3484/FRC3484_Lib_Python --no-cache-dur

On Robot

When deploying this lib with robot code, you may need to forcefully reinstall all of the packages to get library changes to apply:

robotpy deploy --force-install

Installing for Development

Clone this repository:

git clone https://github.com/FRC-Team3484/FRC3484_Lib_Python
cd FRC3484_Lib_Python

Or, use Git: Clone in the VSCode command palate (Ctrl+Shift+P)

Create a new virtual environment and activate it:

python -m venv .venv
source ./.venv/bin/activate # This may vary depending on your OS

Or, with the Python VSCode extension, click the Python version number in the bottom right, and select Create Virtual Enviroment

Install the dependencies:

pip install uv
uv sync