Robot Software

Roadmaps, guides, and getting started with what you need to know to effectively program robots on YETI

Getting Started with Robot Development

This chapter details what software you need to install to write software for our robots provides ...

What you need to install

Git Git is a popular version control system (VCS) for developing software. If you are interest...

Learning Robot Code

FRCLadder FRCLadder provides a series of videos that together serve as a great introduction into...

Common Command Functions

Here we have listed some of the most basic and common functions we use when defining commands to ...

Resources

Java Java is the programming language we use to write the code that enables the robot to do an...

Intelligently using IntelliJ

Overview IntelliJ is the IDE that we recommend for robot programming on YETI. This page will go ...

Getting started with a Romi

Romis are small robots that you program the same way you program the big robots we build for the ...

Configuring a Robot

Setting steer offsets for a Mk 4i drivetrain

Put the robot up on blocks Begin with the bevel gear (the black ring on one side of the wheel)...

Setting the magnet offset for a CANcoder

Move the encoder's mechanism to the desired home position Reset the magnet offset of the CANco...

Flashing a Radio

Pre-2024 Champs Radios Prerequisites Windows PC with WPILib Tools Installed Steps Windo...

Testing Robot Code

Testing code before merging it is important to ensure it works as intended. This page discusses h...

Setting up Motors

Overview There are a couple of steps involved with setting up your bot's motors, and this page w...

Re-zero code for drivetrains

This is just a random article that's meant to help you out with zeroing your drivetrain. If you ...

Setting up a new robot (Roborio)

Rio and Radio setup Flash rio If it's a rio 2, use balena etcher follow the guide from...

Gitting Good at Git

This chapter will go over two main things: What are Git and Github? What are they useful for a...

Git Slideshow

This is the presentation that YETI gives as part of our software curriculum on using git. Take a ...

Tools of the Trade

This chapter will go over some of the tooling we use to make our code functional, efficient, auto...

Table of Contents for Software Tools

Table of Contents with links for all the software tools we use to code robots here at Yeti! Git ...

Current Solution for PhotonVision 2027

With SystemCore still being in development, PhotonVision does not have an official release for th...

Tunes for the Road

Tuning is one of the most important aspects of programming. It ensures that your mechanisms move ...

Plotting and Scheming

Plot (pluh): One of the most valuable tools for your tuning endeavors is the Phoenix Tuner plot....

Tuning a CANrange

A tuned CANrange is especially important to make sure detection is accurate and reliable! Read t...

Down The VelocityTorqueCurrentFOC Road

How to tune for Velocity We like to use MotionMagic because it makes speed changes smoother! We ...

Shooting Our Shot

Shooting Our Shot - How to Create an Interpolating Tree Map An Interpolating Tree Map (aka a Sho...

Calibration and Cows

Calibrating your robot to a specific field is vital to ensure that your localization, autos, and ...

WPIcal (infused with holiness)

Here are the docs I will be mostly referencing on this page: https://docs.wpilib.org/en/stable/d...

Cowlibration

Cowlibration is a field calibration tool developed by FRC team #1538, The Holy Cows. https://git...

Limelight Cowlibration

If you are calibrating a Limelight Camera check the limelight vision docs linked below: https://...

Autonomous Adventures

There are 3 ways we can create autos on YETI: PathPlanner Choreo Composable Functions Thi...

PathPlanner

Overview and Resources: PathPlanner is a pathing tool developed by team #3015 and is fairly easy...

Choreo

Overview and Resources This tool was created by a developer group called Sleipnir Here are the ...

Pathplanner vs Choreo

Overview Pathplanner and Choreo are two solutions to generating paths in the autonomous period, ...

Composable Functions

Overview Using composable functions essentially means ordering commands and paths into autos tha...

Tips for Automaking

Overview Making autos can be hard. This page will go over some tips on how to effectively create...

Simulation

This chapter details how to use simulation effectively to develop code without a physical robot, ...

Using CAD in AdvantageScope

Overview Simulation is very important for YETI, allowing us to test and develop code without a p...

Simulating Beluga in the Sim Sandbox

Setting Up AdvantageScope To get AdvantageScope, you can download the version for your operating...

Tips for Comp/Pit Crew/Drive Team

It's important to know how to deal with problems or talk to judges at comp. This chapter will cov...

Tips for being a Programmer at Comp

Troubleshooting Whenever facing unknown problems at comp, the first thing to do is check t...

Taking Advantage Kit

How to implement an Advantage Kit structure in code

Akit File Structure

Overall Structure When implementing akit into your robot code, it is suggested you create four f...

Akitting The RobotContainer

Akit in RobotContainer This is a general outline of what code should go where in your RobotConta...

Upgrading Repositories

Downloading the Latest VS Code Version

Downloading the Latest Version If you don't already have the latest version of VS Code instal...

WPILib Extension Download

WPILib Extension Download The VS Code Extension Marketplace doesn't natively come with the WPILi...

Replacing the Old with the New

Actually Replacing the Old Repositories Here, click on Clone Git Repository, and follow steps fr...