Requirements

1. Make sure you meet the Phoenix 6 System Requirements
2. Install Phoenix 6 using the C++ (Linux) instructions
   • If using a CANivore, make sure to install canivore-usb
3. Install libsdl2: sudo apt install libsdl2-dev

Modifying the Robot Program

The main robot program is located inside main.cpp.

By default, the GameController class is used for controller input. Users may choose to use the Joystick class instead.

Build Process

1. Make a build directory: mkdir build
2. CD into it: cd build
3. Generate cmake:

• Debug: cmake .. or cmake .. -DCMAKE_BUILD_TYPE=Debug
• Release: cmake .. -DCMAKE_BUILD_TYPE=Release

4. Make the code: make
5. Execute the code: ./Phoenix6-Example

Setting up Generic SocketCAN Adapters

When the canivore-usb kernel module is installed (required when using CANivore), all SocketCAN adapters will be automatically configured and started by the robot program.

However, if it is not installed, then SocketCAN adapters must be manually brought up before running the robot program using ./generic_socketcan_start.sh [CAN interface (default: can0)].