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Girls of Steel FRC+FTC Progress Updates #307
3504 FRC Fall 2025 Testing
We never gave a progress update for our FRC testing last fall. Overall, things went pretty smoothly. We hooked it up to 2025 robot, had some minor issues that were reported here and fixed up quickly. The biggest problem was waiting for all of the community vendor libraries getting released. We put several hours on it doing driver training, and a little "scrimmage" we hosted, until this happened. But we have since gotten our beta hardware replacement and have started FTC testing while we wait for all of the vendors to get on v2027.0.0-alpha-6 builds
FTC 9820 / 9821 / 9981
We have wired up one of our FTC robots up in the hybrid format, with two expansion hubs to power our motors and servos. Since we noticed that there didn't seem to be a whole lot of python testing with FTC yet (minus the blocks developers), so we wanted to take on the challenge of learning robotpy.
Tonight we coded up basic open loop functionality for most of the mechanisms without issue. We intend on bringing the full power of allwpilib to this FTC robot, and plan on doing full localization and porting our shoot on the move functionality from our FRC robot.
I did have two questions:
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How can we connect a limelight 3a to the systemcore? The instructions on limelights website are either for the REV Control Hub or a roborio. I tried setting the team number (frc specific) and USB number (ftc specific) but didn't know what to do next. There was nothing showing up in the network tables, and I don't know how it worked on FTC since it went through the hardware manager.
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This robot has the GoBuilda Pinpoint odometry computer on it. Is there a driver for that? I know there is nothing in allwpilib. And / or Odometry / PoseEstimator classes planned for follower wheels like RoadRunner has?
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So its a little funky to get the LL3A to show up. You have to hook it up to a computer, go into settings, and theres a field for an override NT address. You need to set it to whatever the Systemcore IP address for the other side of that link is (To get that, hook the LL3A up to systemcore, list all the NICs and find the IP address for the LL3A link). Once that is done, it should show up over NT once you plug it back it. There is no way to access the configuration page for the LL3A from systemcore though, the port forwarding setup doesn't work as the LL3A webpage is expecting to find the device as the stock port, which you can't forward as the stock port is already used on Systemcore as the systemcore page.
For the pinpoint, like 7 different teams have vibecoded drivers, but I don't know where they are. We don't have one yet.
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2. And / or Odometry / PoseEstimator classes planned for follower wheels like RoadRunner has?
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I got the Limelight to communicate over network tables with Thads fix. However, when trying to use their python library from pypi we were getting crashes. I've made an issue that repository.
I was able to quickly write a network tables interface that mimics the java / c++ not-quite-vendordep, to unblock us. Looking at advantage scope we are way off the field, but I'm guessing that is a units or field origin problem I can look at our next meeting. I didn't have a lot of time to debug because the kids took the robot from me to test their code for the mechanisms.
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Limelight has near complete support for the 3a in the vision support they are working on that will hopefully be in image v12 coming soon.
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Hey @pjreiniger, there's a new LimelightVision.md in this repo with a 2027 image for 3A. You will need to update your Systemcore to the latest prerelease 12. Your 3A should enumerate in the cameras tab after everything has been updated.