frclib-6107

Python helper library focused on the CyberJagzz FRC Team 6107 robot requirements

Table of Contents

• Background and Intended Direction
• Key Interfaces
• Commands
  • Drivetrain
  • Vision
  • Pykit
• Subsystems
  • Gyro
  • Pykit
  • RPM
  • Vision
• Utilities

Background and Intended Direction

During the initial FRC python effort for the 2026 Rebuilt build-season, several useful utilities were identified along with much common functionality between some subsystems. On top of this, the pykit module had a few bugs identified and the source for pyckit was brought into the Team's product code to allow for quick fixes during competition.

All of this work was performed under the lib_6107 subdirectory of our 2026 Rebuilt project, and now that build season is over, it sure would be nice to pull this into a loadable module, clean up and document the interfaces, and get some decent coverage under some sort of unit tests.

If this is successful, the hope is that the main robot-loadable source for 2026 and our future robots is greatly reduced.

Another key focus is to speed the periodic code by at least 25%. The current loop is taking about 23 mS, and we need this under 20. While the new controller for 2027 will probably be significantly faster, saving time to run new functionality (vision w/ dynamic collision avoidance) will most likely take this time up.

Key Interfaces

Below are the main areas (often subdirectories) contained in this project.

commands

drivetrain

vision

pykit

subsystems

gyro

pykit

rpm

vision

util

Planned Releases and Improvements

The first 'beta' release will be 2026.0.0.1 and will primarily be a move of the current 2026-Rebuilt project into an installable module. Following that release, the start of several improvements based on the prioritized list below. Note that priorities may change without notice.

The format of the version number is YYYY.MAJOR.MINOR.patch. Wile the YYYY.MAJOR.MINOR portion is all zeros, expect that this code is really very pre-alpha. Once it stabalizes and has a good portion of what I want, will begin to bump the MINOR version up. Once it is beta or better quality, I will increment the MAJOR version. At that point, the patch number will be used for bug fixes and minor improvements and the MINOR version will be used to indicate new functionality. The MAJOR version will be used to indicate a significant change in the module that may require changes to the robot code that uses this module.

**Completed Tasks **

NOTICE

As with many FRC projects, the code in this module draws from many other repositories belonging to different teams. As I begin to extract code and move it into this repo, I hope to provide credit below. If I miss anyone, my apologies, it is not intentional.

Also, we use: - both Rev and CTRE motors - pathplanner - pykit - PhotonVision (and maybe Limelight soon)

So those modules will be downloaded if you install this module as well. Maybe a little code bloat, but it should not be much of an impact in 2027 where this is being targeted.

Westwood Robotics - 1757

• The original work on pykit and of course their robots tha provide good examples of how to use pykit

Team 714

• Gene Panov's (Team 714) CommandRevSwerve project and so many good videos of how to use robotpy...
• Misc vision videos by other team members