Robotrs

A port of WPILib and REVLib to Rust for use in the FIRST Robotics Competition. This project intends to investigate the use of Rust to prevent simple logic errors like commanding a subsystem of the robot to do two seperate things at the same time by using the borrow checker. This project also experiments with allowing parts of the robotrs ecosystem to be used outside of FRC. This also aims to make it easier for teams to use shared code by using cargo instead of gradle and a custom dependency managment system.

Security

The hal-sys, ctre, nt, and revlib packages all download libraries and the binaries necessary at compile time. All code related to the downloading of these libs can be found in the build-system directory and the build.rs of the 4 crates mentioned earlier.

Not affilited with or supported by WPILib, REV Robotics, CTRE, or FIRST

Quick Start

Cargo Generate

0. Install the compiler toolchain by running the installRoboRioToolchain task in allwpilib or downloading from Github and putting the bin directory on the path.
1. First, install cargo-generate using cargo install cargo-generate. Then, generate from the template using cargo generate https://github.com/BlueZeeKing/robotrs.git Remember to change the project name in Cargo.toml
2. Deploy your code by first installing the deployment tool:

cargo install cargo-deploy --git https://github.com/BlueZeeKing/robotrs.git

Then running it in the root directory:

cargo deploy [TEAM NUMBER]

Manual

0. Install the compiler toolchain the same way as in cargo generate step 0
1. Create a new binary Rust crate with cargo new <NAME>
2. Add the following to the ./.cargo/config.toml file

[target.arm-unknown-linux-gnueabi]
linker = "arm-frc2023-linux-gnueabi-gcc"
rustflags = ["-C", "target-cpu=cortex-a9"]

[build]
target = "arm-unknown-linux-gnueabi"

[env]
LIBS_OUT_DIR = { value = "target/lib", relative = true }

3. Add the required dependencies to the Cargo.toml file. For example:

[dependencies]
robotrs = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
revlib = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
ctre = { git = "https://github.com/BlueZeeKing/robotrs.git", tag="v0.1.0" }
anyhow = "1.0.75" # This is an error handling library that is used extensively

4. Add a rust-toolchain.toml file to the root of the project with the following contents:

[toolchain]
channel = "nightly"
targets = ["arm-unknown-linux-gnueabi"]

5. In the src/main.rs file run the scheduler with closure that produces a struct that implements the AsyncRobot trait. For example:

fn main() {
    robotrs::scheduler::RobotScheduler::start_robot(|| example::Robot::new());
}

6. Deploy your code by first installing the deployment tool:

cargo install cargo-deploy --git https://github.com/BlueZeeKing/robotrs.git

Then running it:

cargo deploy [TEAM NUMBER]