WPIlib_rs

This is an implementation (or more so an interface) for wpilib in rust.

Project

Your main robot code will be in ./robot_code/src/main.rs. this will behaive like a normal rust project.

you can set your team number in ./.cargo/config.toml using the FRC_TEAM_NUMBER environment variable.

Prerequisites

You will need wpilib 2023 installed on your computer. the default location is HOME/wpilib where HOME is your user directory. this can be changed in ./.cargo/config.toml

You will also need cargo installed with the arm-unknown-linux-gnueabi target installed and its std

# add target
$ rustup target add arm-unknown-linux-gnueabi 
# update and install std
$ rustup update

When deploying you need to ensure that the shared object files are already installed on the system. (deploying a helloworld cpp project will give you the needed shared objects)

Building and Deploying

$ cargo build_native

will build the native binary. default to debug build but can be specified with --release or --debug

$ cargo build_roborio

will build the roborio binary. default to debug build but can be specified with --release or --debug

$ cargo deploy

will build and deploy the roborio binary. default to debug build but can be specified with --release or --debug. can also use --nobuild to skip rebuilding and only deploy (will crash if no binary is found)

Current State

Currently the 'Core Robot Loop' is complete. There exists a single interface TimedRobotTrait equivalent to Cpp and Javas TimedRobot class. All robot initialization and error reporting is handled internally through the library with no unsafe or binding code needed in user robot code.

Note

This isn't tested (at all) on windows or mac. I tried as best as I could to add support without having access to either however, we know how that goes...

Todo/Goals

• Full platform support (linux, windows, mac)
• Roborio debugging
• Proper shared object deploying
• Provide an interface for more wpilib components
• Documentation