软件组件概述

FRC® 软件包含各种强制性和可选性组件。它们旨在帮助您设计,开发和调试机器人代码、您控制机器人,并在排除故障时提供反馈。本文档将简要概述每个软件组件的用途,提供软件包下载链接以及其他文档的链接。

操作系统兼容性

支持FRC组件的主要操作系统是Windows。所有必需的FRC软件组件均已在Windows 7、8和10上进行了测试。不支持Windows XP。

在macOS和Linux上也支持并测试了许多用于C ++ / Java编程的工具。使用C ++ / Java进行编程的团队应该能够使用这些系统进行开发,并且使用Windows系统完成仅限Windows的操作,例如Driver Station,Radio Configuration Utility和roboRIO Imaging Tool。

重要

支持的最低macOS版本是Mojave(10.14.x)。

LabVIEW FRC(仅支持Windows)

LabVIEW FRC 2018 Beta Getting Started screen.

基于最新版本的LabVIEW Professional语言的LabVIEW FRC语言,是得到官方支持的用于FRC机器人编程的三种的语言之一。 LabVIEW是一种图形化、数据流驱动的语言。 LabVIEW程序由称为VI的图标集合组成,这些图标通过在VI之间传递数据的导线连接在一起。 LabVIEW FRC安装程序在Kickoff套件里的DVD中,也可以从网上下载。 LabVIEW FRC软件入门指南,与安装说明,可在:ref:`此处 <docs/zero-to-robot/step-2/labview-setup:Installing LabVIEW for FRC (LabVIEW only)>`找到。

Visual Studio Code

Welcome screen of Visual Studio Code.

Visual Studio Code是C ++和Java(其他两种受支持的语言)支持的开发环境。两者都是面向对象的基于文本的编程语言。可以在此处找到<docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>的C ++或Java for FRC入门指南,包括Visual Studio Code的安装和配置。

NI LabVIEW支持的FRC Driver Station(仅支持Windows)

Driver Station on the first tab with the robot disabled and disconnected.

这是唯一一个能用来在比赛期间控制机器人状态的软件。 它可通过各种输入设备将数据发送到您的机器人。 它还包含许多工具,用于帮助对机器人问题进行故障排除。 可以 :ref:`在此 <docs/software/driverstation/driver-station:FRC Driver Station Powered by NI LabVIEW>`找到有关它的更多信息。

Dashboard选项

LabVIEW Dashboard(仅支持Windows)

The default LabVIEW Dashboard on the Drive tab.

The LabVIEW Dashboard is automatically launched by the FRC Driver Station by default. The purpose of the Dashboard is to provide feedback about the operation of the robot using tabbed display with a variety of built in features. More information about the FRC Default Dashboard software can be found here.

智能仪表盘

SmartDashboard with 3 widgets added.

SmartDashboard allows you to view your robot data by automatically creating customizable indicators specifically for each piece of data sent from your robot. Additional documentation on SmartDashboard can be found here.

模块化仪表盘

Shuffleboard with 3 widgets from their NetworkTables entries added.

Shuffleboard has the same features as SmartDashboard. It also improves on the setup and visualization of your data with new features and a modern design at the cost of being less resource efficient. Additional documentation on Shuffleboard can be found here.

Glass

Glass connected and showing NetworkTables, a Field2D window, and a plot of a couple signals.

Glass is a Dashboard focused on being a programmer’s tool for debugging. The primary advantages are the field view, pose visualization and advanced signal plotting tools.

LiveWindow

LiveWindow showing two different subsystems.

LiveWindow is a feature of SmartDashboard and Shuffleboard, designed for use with the Test Mode of the Driver Station. LiveWindow allows the user to see feedback from sensors on the robot and control actuators independent of the written user code. More information about LiveWindow can be found here.

FRC roboRIO Imaging Tool (仅支持Windows)

roboRIO Imaging Tool after it has found a connected roboRIO.

此工具用于格式化和设置roboRIO以在FRC中使用。可以在:ref:`此处 <docs/zero-to-robot/step-2/frc-game-tools:Installing the FRC Game Tools>`找到安装说明。 您可以在 :doc:`此处 </docs/zero-to-robot/step-3/imaging-your-roborio>`找到有关使用此工具对roboRIO进行成像的其他说明。

FRC Radio Configuration Utility(仅支持Windows)

Initial screen of the FRC Radio Configuration Utility.

FRC Radio Configuration Utility是用于配置标准无线连接以在家中练习的工具。 该工具设置适当的网络设置,以模仿FRC赛场的体验。 它由独立安装程序安装,可以在 :ref:`这里 <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>`找到。

FRC Driver Station Log Viewer (仅支持Windows)

Driver Station Log Viewer showing a logged practice session.

FRC Driver Station日志查看器可用于查看FRC Driver Station创建的日志。 这些日志包含各种信息,对于理解练习或FRC比赛期间发生的事情非常重要。 有关FRC Driver Station Log Viewer和了解日志的更多信息,请参见 此处

RobotBuilder 软件

RobotBuilder building a robot with two subsystems.

RobotBuilder是一种工具,旨在帮助设置和构建用于C ++或Java的基于命令的机器人项目。 RobotBuilder允许您输入机器人子系统和操作员界面的各个组件,并定义图形树形结构中的命令。然后,RobotBuilder将生成结构化模板代码,以帮助您入门。有关RobotBuilder的更多信息,请参见:此处<docs/software/wpilib-tools/robotbuilder/index:RobotBuilder>`。可以在此处找到有关基于指令的编程体系结构的更多信息。

Robot Simulation 软件

The Simulation GUI similar to Glass but also has Joysticks and control over the robot state and a few other features.

Robot Simulation为Java和C ++团队提供了一种验证编好的机器人代码在仿真环境中运行的途径。 该环境可以直接用VS Code启动,包含一个2D字段,以使用户直观地看到机器人的运动。 有关更多信息,请见:ref:Robot Simulation section <docs/software/wpilib-tools/robot-simulation/introduction:Introduction to Robot Simulation>

FRC LabVIEW Robot Simulator (仅支持 Windows)

FRC LabVIEW Robot Simulator

FRC LabVIEW Robot Simulator 是LabVIEW编程环境的组件,允许您在模拟环境中操作预先设定好的机器人以测试代码和/或driver station的功能。 有关使用FRC LabVIEW Robot Simulator的信息,可在`这里 <https://forums.ni.com/t5/FIRST-Robotics-Competition/LabVIEW-Tutorial-10-Robot-Simulation/ta-p/3739702?profile.language=en>`找到,或在LabVIEW项目浏览器中打开Robot Simulation Readme.html文件。

PathWeaver 软件

PathWeaver UI with a project for FRC Deep Space plotting a trajectory to the back of the rocket.

PathWeaver allows teams to quickly generate and configure paths for advanced autonomous routines. These paths have smooth curves allowing the team to quickly navigate thir robot between points on the field. For more information see the PathWeaver section.

Robot Characterization 软件

Robot Characterization new project screen that is highlighting "Generate Project".

This tool helps teams automatically calculate constants that can be used to describe the physical properties of your robot for use in features like robot simulation, trajectory following, and PID control. For more information see the Robot Characterization section.

OutlineViewer

OutlineViewer with the preferences dialog box.

OutlineViewer is a utility used to view, modify and add to all of the contents of the NetworkTables for debugging purposes. LabVIEW teams can use the Variables tab of the LabVIEW Dashboard to accomplish this functionality. For more information see the Outline Viewer section.

Setup Axis Camera (仅支持 Windows)

Setup Axis Camera

Setup Axis Camera是一个LabVIEW程序,它可以用于配置Axis 206,M1011或M1013相机,以在机器人上使用它们。 它是被FRC Game Tools的一部分安装的。