readme.md

Things to do when the season starts:

1 - Get the config off the driver hub and into the main codebase for 0 risk of losing the config in a wipe.

• Steps to get the config
  1. Wire up the swerve pods and build the hardware config the normal way, through the Driver Station's "Configure Robot" wizard. Name it something lowercase/numbers/underscores only, e.g. swerve_config (that name is what shows up in the config picker).
  2. Pull the resulting XML off the Control Hub. Either:
     • adb pull /sdcard/FIRST/swerve_config.xml (connect via adb connect 192.168.43.1:5555 while on the hub's Program & Manage wifi network), or
     • browse to it through the Control Hub's web manager at 192.168.43.1:8080, or
     • a file manager app if going through the Driver Hub tablet directly.
  3. Drop that file into TeamCode/src/main/res/xml/swerve_config.xml in this repo (same mechanism already used for teamwebcamcalibrations.xml in that folder).
  4. Commit it to git.
  5. From then on, any deploy (Run -> Team Code in Android Studio) auto-installs that XML back onto whatever hub is connected, at /sdcard/FIRST/swerve_config.xml. A wiped or swapped Control Hub gets the exact same config back the next time code is pushed to it, no need to redo the wizard.
  6. After a wipe, double check the config shows as selected on the Driver Station (pick it once from "Configure Robot" if it isn't auto-selected) before trusting it.
  • Sanity check the pulled file against pedroPathing/Constants.java: it should declare motors named sm0-sm3, continuous rotation servos ss0-ss3, analog inputs se0-se3, and an I2C device named pinpoint (not on I2C port 0, that's the Control Hub's built-in IMU).

2 - Ensure wiring is the same as @swervewiring.png