Code2026

Installation

All dependencies are managed via uv.

• Please follow the installation instructions

Once you have uv installed, you only need to run:

uv run frc sync

Best Practices

We use ruff for formatting code. This ensures consistency and minimizes white-space-related conflicts.

• VS Code should be set up to install the charliemarsh.ruff extension and will format-on-save.
• Before pushing code always format using ruff:

  uv run ruff format
  uv run ruff check
  

To simulate the robot

uv run frc sim

To deploy to the robot

uv run frc deploy

If you want to skip running the tests

uv run frc deploy --skip-tests

To run back a log file in replay mode, set the LOG_PATH environment variable and then run in simulation

An example is to run the following:

LOG_PATH=/path/to/log/file.wpilog uv run -- robotpy --main src sim

For replay watch, do the following:

LOG_PATH=/path/to/log/file.wpilog uv run -- robotpy --main src watch

Notes: We use L1 swerve. USB: 172.22.11.2 Radio: 10.45.72.1 RoboRIO: 10.45.72.2 Vision: 10.45.72.201 SSH into RoboRIO: admin@roboRIO-4572-frc.local AndyMark field at districts and regionals.

TODO at comp:

1. Need to update deploy/pathplanner/settings.json should these be tuned? auto_translation_pid = PIDConstants(4, 0.0, 0) auto_rotation_pid = PIDConstants(5.0, 0.0, 0.0)
2. I would recommend an actual PID to the stop point’s pose so you can be cleaning up any residual path error during the shooting pause
3. Hood gittering at 0
4. Add vision onto other orin nano.
5. Figure out uv run frc debugpy/debug.

VISION

1. Usew command to usb memlory buffer: sudo sh -c 'echo 256 > /sys/module/usbcore/parameters/usbfs_memory_mb'
2. try 512 mb
3. check active usb, performance
4. attempt to put each camera into 1 usb port and see if that works
5. set fps to 15fps