CppRobotics VS allwpilib

I even opened an issue about this, so feel free to post your ideas there.

I posted CppRobotics here yesterday, and some of you pointed out that the name is very generic.

Yesterday I posted CppRobotics and a few of you have left some stars (thanks!).

As per the title, my repo CppRobotics has been receiving a few stars and I was thinking of renaming it to Control++ soon, to better convey the idea of what it does (and to play around with the name acronym C++).

First of all I am by no means a C++ expert. I love the language and did quite a bit of studying, but I still have plenty to learn. Since I love robotics and control theory, I thought it would be a good idea to create CppRobotics and implement something that I really believe in.

Long story short I love these topics and love coding as well, so I decided to create CppRobotics.

You need to be more specific, what issues? I would recommend starting with an example. https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive. And looking at the documentation for it here. https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html#mecanum-drive If this doesn’t work make sure your wheels are in the correct orientation (x pattern when viewed from top) and you set your inverts right.)

I believe this page has timed based swerve code https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot

Study Java syntax, and look up the common code libraries at https://wpilib.org/

Just to cover all the bases, have you run the 2022 installer? That should have all of the files required to build robot projects. Even if you have I would recommend running it again and making sure that it installs the JDK to the default location.

Also remember that wpilib is open source, so you can check out the implantation of all of these classes yourself to better understand what they’re doing. Java SequentialCommandGroup is right here. You can also access this by control+left clicking on almost any class or method in vscode and it’ll open up a new editor tab with that code.

To get myself started I used Manning Robotics tutorial. Keep in mind though it is out of date as there was a rewrite for the command based framework in 2020. Check out the WPILIB for a walk through of the system. Also linked from WPILIB are the example projects gears bot and traditional hatchbot that my team has been referencing to get us started.

It's been updated, and installing it worked for me. Get the dmg from here, then download and install.

This is the link to the GitHub release https://github.com/wpilibsuite/allwpilib/releases/tag/v2019.4.1

if you’re sure you want to go the in-wheel encoder route, check out wpilib’s implementation of it here. it uses EJML for most of the math, but you can remove it if you’re comfortable with matrixes