spartanLib2

Reusable robot code for FIRST Robotics Competition Team 997.

chsrobotics.org

Contents:

Currently, the library contains 7 sub-packages:

• commands: Command framework abstractions
• controllers: Feedback controllers
• hardware: Wrappers and abstractions for common FRC hardware
• math: Filters, utility operations
• models: System models and kinematics
• telemetry: Logging
• trajectory: Trajectory generation, motion profiles
• util: Utilities

Installation

Artifacts are published through JitPack, so installation is easy.

1. Add the JitPack repository:

repositories {
    maven { url 'https://jitpack.io' }
}

2. Add the dependency:
   1. For stable releases:

    dependencies {
        ...
        implementation 'com.github.Team997Coders:spartanLib2:1.3.1'
    }

   2. For developement versions:

    dependencies {
        ...
        implementation 'com.github.Team997Coders:spartanLib2:dev-SNAPSHOT'
    }

Contributing:

If you're a member of the Team997Coders org, you can simply create a branch inside this repo and make a pull request to dev when you're finished. Currently, 1 review is required and checks must pass to merge to dev. No direct commits to main are allowed.

For people outside of the org, follow the same steps, except with your own fork. We'll accept any useful PRs!

Standards:

There aren't stringent criteria for merging, but your code should, at the minimum, be:

• Well-documented (javadoc, variable/method names, source comments explaining complex logic)
• Robustly-tested (not much hardware can be tested without the NI/WPILib HAL, but those should be benchtop tested, and everything else should have tests for many cases written)

Note to Future Programmers:

In order to keep this library from going the way of the dinosaurs (and spartanLib1...), it can't stay static, not useful to anyone. If there's some bit of code you just need to make your life in FRC programming easier, put it in. If there's something in here not being useful, consider removing it.

Future Leads:

Ask for admin rights from your software mentor so that you can play a large role in future development. If you have issues getting this role, please reach out to the original author(s).

License:

Licensed under the GNU GPLv3.