# 2023-swerve-education Repository for learning how to wire and program and FRC robot for new robotics members. ## Necessary Software There is some software that you will need to work on the project. It is recommended that you install software as instructed in on WPILIB's [website](https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-2/wpilib-setup.html). This will setup the necessary tools for you to develop in vscode. If you want however, you can develop in any environment that suites you, as long as you download the necessary components (JDK, etc.). ## Documentation for WPILIB and other libraries Documentation for of the important libraries used in this project. - [WPILIB Documentation](https://docs.wpilib.org/en/stable/index.html) - This is the FRC provided control system for our robot. It is very important to understand how it works both software and hardware. Be sure to check out the [Command-Based](https://docs.wpilib.org/en/stable/docs/software/commandbased/index.html) section as that is the system that is used in this project. - [Path Planner](https://github.com/mjansen4857/pathplanner/tree/v2023.4.2#pathplanner) - This is the library used to generate autonomous paths and routines for the robot. - [Limelight](https://docs.limelightvision.io/en/latest/) For the offseason competitions we will be using limelight as a our primary vision system. - We have various other libraries detailed in the vendor dependency folder. These include: REV Robotics, Swerve Drive Specialties, and Phoenix Hardware. ## Branch Protection Rules Certain branches are protected by rules that must be obeyed - `main` - All code changes must be merged via pull request from the created branch into `main` once the code has been reviewed and passed CI. ## Releases Code that has been released with a tag has been tested on the robot and is approved for competition use. During competition, unless in dire situation, code must come from a release and not the main branch. Each release will come with a driver's manual and source code. ## Resolving Merge Conflicts See something like this?  DO NOT click that "Resolve Conflicts" button. Unfortunately GitHub makes resolving merge conflicts harder than it needs to be, but don't worry! You can follow these steps and get your branch up to date quickly. For a full explanation you can watch [this video](https://www.youtube.com/watch?v=I0hUvy7SW6M). She shows an example and explains the whole process really well. To do this you will need to run some commands in a terminal. VS Code has one you can access or you can use your system's terminal emulator (Windows Terminal on Windows 10+ or Terminal on OS X). 1. Ensure your local main is up to date. ``` git checkout main git pull ``` 2. Switch to your branch. Make sure to use your actual branch name in the command. ``` git checkout your-branch-name ``` 3. Replay your commits on top of the current main. This is different from what GitHub instructs you to do, but this is the "correct" way to bring a branch up to date cleanly. ``` git rebase main ``` When you run this command it may ask you to manually resolve merge conflicts. It will show you what the change on main was alongside your change that conflicts with it. You'll need to manually edited those then `git add` each file once it looks good. 4. Update your remote branch with the changes. ``` git push --force-with-lease origin your-branch-name ``` That should do it! If you run into any issues with this please ask in our Discord server and someone will help you out.

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