Programming

Getting Started with FRC / Java Development

• Zero to Robot is a step by step guide for FRC. Very good.

• We use VS Code for our integrated developer environment (IDE)

• We use GitHub for our code repositories.

• WPILib is the main framework we use for software development running on the robot, This section gets you familiar with it.

  • WPILib javadocs

  • We have had a lot of success with the Command based design pattern 

  • There are a bunch of sample programs that cover most of the functionality you need out of running a robot.

• Additional vendor APIs we leverage are:

  • KauiLabs NavX for our Gyro

    • User Guide

    • Example Code

  • Rev Robotics

    • Documentation

  • Swerve

    • YAGSL

    • Example code

  • Vision Processing - PhotonVision 

    • Documentation

    • Example Code - also see YAGSL example

A common way that we'll control mechanisms is through a control loop called PID. This article does a great job of explaining PID through the example of a flywheel shooter: https://trickingrockstothink.com/blog_posts/2019/10/19/tuning_pid.html.

To choose between multiple different autonomous modes, follow this explanation: https://docs.wpilib.org/en/stable/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.html