Setting up a new robot (Roborio)

 

Rio and Radio setup

1. Flash rio
   • If it's a rio 2, use balena etcher
     • follow the guide from WPILib docs
   • If it's a rio 1, use the roborio imaging tool
     • follow the guide from WPILib docs
2. Set the roborio's team number
   • Although there is a roborio team number setter tool, it sucks and sometimes doesn't work. Use the roborio imaging tool to set the team number regardless of it's a rio 1 or 2
3. Flash radio
   1. Connect to the radio over ethernet
   2. Go to http://radio.local
   3. Set the team number
   4. Set the robot name
   5. Set the password to YETI3506
   6. Hit apply
4. Power cycle
5. Deploy code

CTRE Setup

1. Connect to robot
2. Verify CAN busses are all good
   • All devices should be flashing orange
3. Make sure all IDs are unique
   • Devices of different types can have the same ID. Devices of the same type cannot have the same ID
     • e.g. A Kraken X60 and a Pigeon can both have ID 1, but there can only be one Kraken X60 with the ID of 1
4. Update CTRE firmware
5. License motors
6. Name motors
7. Set IDs
   • Sync with code
8. Confirm motor directions
9. Sync motor directions with CANcoders
10. Zero CANcoders
11. Save CANcoder offsets in code
12. Deploy code
13. Power cycle