pyreefscape

The Drop Bears' robot code for FRC 2025

Setup

Install dependencies

We use uv to manage our dependencies in our development environments. This includes the Python version, and any Python packages such as wpilib.

Install uv by following the uv docs.

After installing uv, download the roboRIO dependencies.

uv run robotpy sync --no-install

uv run will automatically create a virtual environment and install our dependencies for local development.

pre-commit

pre-commit is configured to run our formatters and linters. These are enforced for all code committed to this project.

To use pre-commit, you must install it outside of this project's virtual environment. Either use your system package manager, or use uv tool:

uv tool install pre-commit --with pre-commit-uv

You can then set up the pre-commit hooks to run on commit:

pre-commit install

IDE setup

Visual Studio Code

1. Install the workspace's recommended extensions.

2. Copy .vscode/settings.default.json to .vscode/settings.json.

   cp .vscode/settings.default.json .vscode/settings.json

Run

Simulation

uv run robotpy sim

Deploy to Robot

First, connect to the robot network. Then run:

uv run robotpy deploy

Test

uv run robotpy test

Type checking

We use mypy to check our type hints in CI. You can run mypy locally:

uv run mypy .

Code Structure

We use RobotPy's Magicbot framework

robot.py: Entry point, has mapping from driver inputs to high level robot actions.

components/: Abstracts hardware into robot actions.

controllers/: Automates robot actions, mostly with state machines.

autonomous/: Controls robot during autonomous period.

ids.py: Has CAN ids, PH channels and other port numbers.