Standard software suite for team laptops
When setting up new laptops for the team, Triple Helix installs the following suite of programs.
- Clean install of Windows 10 or higher
- Google Chrome
FRC driver station laptops
Triple Helix strongly endorses WPILib’s Driver Station Best Practices guide for driver station laptops.
FRC software development laptops
All software required for an FRC driver station laptop, plus:
- Development environment essentials
- Clang, ClangD, and ClangD extension for VSCode
- Visual Studio Community for C++ simulation
- Networking utilities
- FRC Radio Configuration Utility for configuring robot radios for home use
- Angry IP Scanner
- PuTTY (example usage: networking with Beelink Mini PC)
- FRC vendor hardware clients
- REV Hardware Client
- CTRE Phoenix Framework and Phoenix Tuner
FRC mechanical design / CAD laptops
TORC development laptops
- Betaflight Configurator
Genome Mu (2020) controller maps
The Triple Helix software team documented the button map for the driver’s and operator’s controllers for Genome Mu, our robot for the 2020 FIRST Robotics Competition game, Infinite Recharge.
Method for Arcade Drive input scaling
“Arcade Drive” is a popular joystick control method for skid-steer robot drivetrains, where one joystick axis controls the “throttle” (speed forward and back) and the other axis controls the rate of rotation of the robot chassis.
We provide a method for scaling the [-2, 2] range of (throttle command + turn command) down to [-1, 1] for use with an arcade drive.
This scaling is applied smoothly with no discontinuities anywhere in the input range. There is also no loss of information– both outputs (power/speed commands to motor controllers on the left and right sides of the drivetrain) always depend on both inputs (the driver’s throttle and turn joystick commands).
Command based Java for FRC
Triple Helix mentor Matt Lythgoe presents on command based java programming for FRC. For several years, Triple Helix has presented these two sequential sessions at the annual FRC Workshop event at Virginia Commonwealth University to an audience of other FRC students and mentors.
Session 1 slides: Command Based Java for FRC