Code Setup

Raid One Template

Download the Raid One code template from here and open it in WPILib’s VSCode (download here). If a prompt tells you to update, update.

Note

Make sure your code is not backed up with Google Drive or Onedrive.

Installing Vendor Libraries

CTRE and REV (Offline installation):

  • Ctrl + Shift + P –> Manage Vendor Libraries –> Install new libraries (offline) –> click the correct checkbox(es)

Pathplanner (Online installation):

  • Ctrl + Shift + P –> Manage Vendor Libraries –> Install new libraries (online) –> give it the link found here

Configuring Motor Controllers & Sensors

  1. Update the firmware

  2. For REV devices, open REV Hardware Client and connect a Spark Max to your laptop. For CTRE devices, open Phoenix tuner, connect the Roborio to your laptop, and click “Run Temporary Diagnostic Server”

  3. Configure the CAN ID’s of the motor controllers and sensors (this assumes you have already wired the robot)

If You don’t have something mentioned above, download them at the links below

Note

When configuring CAN ID’s, you must do it 1 by 1 if they are new. Otherwise, the CAN will think that all your devices are the same thing as they will be under the same CAN ID.

Possible issues you may encounter

  1. The CAN devices are blinking weird colors (probably a connection issue)

  2. You can’t see all your devices in Phoneix Tuner or the REV hardware client (probably also a connection issue)

  3. Phoenix Tuner confuses your motor controllers with older motor controllers (firmware too old)

  4. Only one devices shows up in Phoenix Tuner even though your CAN bus looks happy (this means all your devices have the same ID)

Setting CAN ID’s in Code

Now that your CAN is happy, go to Constants.java (from the template downloaded previously) and change the CAN ID’s to match the ID’s you set in the previous step.