cd5765559a
- CANJaguar also touched up to report it can't do the new control mode (just like with follower). - New third optional param for talon c'tor to speed up enable control frame. - The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator. Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season. -HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot. For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot. -Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too). -Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module). -New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial). Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
Building WPILib
Building WPILib is very straightforward. WPILib uses Gradle to compile. It only has a few dependencies on outside tools, including the ARM cross compiler.
Requirements
- ARM Compiler Toolchain
- Doxygen (Only required if you want to build the C++ documentation)
Setup
Clone the WPILib Repo. If the toolchains are not installed, install them, and make sure they are available on the system PATH.
Building
All build steps are executed using the Gradle wrapper, gradlew. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is build. This will build all of the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
./gradlew build
To build a specific subproject, such as wpilibc, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use :subproject_name:task_name with the Gradle wrapper. For example, building just wpilibc:
./gradlew :wpilibc:build
The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change to the HAL and then run :wpilibc:build, the HAL will be rebuilt, then wpilibc.
There are a few tasks other than build available. To see them, run the meta-task tasks. This will print a list of all available tasks, with a description of each task.
Publishing
If you are building to test with the eclipse plugins or just want to export the build as a Maven-style dependency, simply run the publish task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with -Prepo=repo_name. Valid options are:
- development - The default repo.
- beta - Publishes to ~/releases/maven/beta.
- stable - Publishes to ~/releases/maven/stable.
- release - Publishes to ~/releases/maven/release.
The following maven targets a published by this task:
- edu.wpi.first.wpilib.cmake:cpp-root:1.0.0 - RoboRIO C++
- edu.wpi.first.wpilibc.simulation:WPILibCSim:0.1.0 - Simulation C++
- edu.wpi.first.wpilibj:wpilibJavaFinal:0.1.0-SNAPSHOT - RoboRIO Java
- edu.wpi.first.wpilibj:wpilibJavaSim:0.1.0-SNAPSHOT - Simulation Java
- edu.wpi.first.wpilibj.simulation:SimDS:0.1.0-SNAPSHOT - The driverstation for controlling simulation.
- org.gazebosim:JavaGazebo:0.1.0-SNAPSHOT - Gazebo protocol for Java.