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This hooks up the bazel build to the robotpyExamples. It can use the (formly pyfrc or whatever) automatic unit tests for an example, as well as exposing the ability to run the example in simulation, with or without `halsim_gui` with a command such as `bazel run //robotpyExamples:AddressableLED-sim` This required building and using wheels instead of just a normal `py_library`, so that things like `ENTRY_POINTS` can be used. I took a bare bones approach to building and naming the wheels (for example the native ones don't have the OS info or python version in them, so they wouldn't be suitable publish to pypi, but that can always be updated later.
AprilTag
Adding new field to AprilTagFields
Adding field JSON
- Add a field layout CSV file to
src/main/native/resources/edu/wpi/first/apriltag- See docstring in
convert_apriltag_layouts.pyfor more
- See docstring in
- Run
convert_apriltag_layouts.pyin the same directory as this readme to generate the JSON - That script overwrites all generated JSONs, so undo undesired changes if necessary
- Update the field dimensions at the bottom of the JSON
- Length should be in meters from alliance wall to alliance wall
- Width should be in meters from inside guardrail plastic to plastic
Java updates
- Update
src/main/java/edu/wpi/first/apriltag/AprilTagFields.java- Add enum value for new field to
AprilTagFields - Update
AprilTagFields.kDefaultFieldif necessary
- Add enum value for new field to
C++ updates
- Update
src/main/native/include/frc/apriltag/AprilTagFields.h- Add enum value for new field to
AprilTagFields - Update
AprilTagFields::kDefaultFieldif necessary
- Add enum value for new field to
- Update
src/main/native/cpp/AprilTagFields.cpp- Add resource getter prototype like
std::string_view GetResource_2024_crescendo_json() - Add case for new field to switch in
LoadAprilTagLayoutField()
- Add resource getter prototype like