= Java for FRC Robotics = 
Writing Java programs to control a robot is similar to the Java programming you've already learned; there are three key differences:
1. The program you write must be transferred to the robot's computer (the roboRIO) where it will run
2. FIRST and WPI provide a framework that your robot program must run within; the framework manages many aspects of the robot for you.
3. WPI also provides a rich library of pre-written classes called WPIlib that makes robot programming faster and easier.

* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/XboxController Xbox Controller]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/UltrasonicRangefinder Ultrasonic Rangefinder]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/ServoMotor Servo Motor]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/DCMotor DC Motor Control]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/Encoders Encoders]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous Autonomous]
* [wiki://ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl Closed Loop Control]


== Fourth program: DC Motor Control
For stronger and faster movement, FRC robots use all sorts of motors.  There are large motors that propel the robot, small motors that drive flywheel or manipulators, etc.  Most DC motors use more power than can be supplied directly from the !RoboRIO so instead the roboRIO communicates with a dedicated high-power motor controller and tells it how fast and in which direction to move the motor.  FRC robots support several types of motor controllers; a common and powerful controller is the [https://www.andymark.com/products/talon-srx-speed-controller Talon SRX] often called a CAN Talon.

Create another program using the !TimedRobot java template and name it !MotorTest.
 
The motor controller Class is provided by a third party (Cross The Road Electronics aka CTRE); the team laptops already have the CTRE framework installed; if your laptop does not, you can download and install it [http://www.ctr-electronics.com/control-system/hro.html#product_tabs_technical_resources here].  To use the library, you need to add it to the project:
* WPILib->Manage Vendor Libraries
* -> Install new library (offline)
* -> Select ctre phoneix library  (or similar)

Modify the generated code as follows:

* Add the following imports:
{{{
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import com.ctre.phoenix.motorcontrol.can.*;
}}}
* declare variable for the Xbox controller and [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599703-repeatable-low-power-movement-controlling-servos-with-wpilib servo motor] in the Robot class 
{{{ 
   private XboxController xbox; 
   private WPI_TalonSRX m_rearLeft;
}}}
* in robotInit() instantiate the controller and motor controller objects
  {{{
    xbox = new XboxController(0);     // Xbox controller on port 0
    m_rearLeft = new WPI_TalonSRX(4); // CAN Talon ID 4
  }}}
* in teleopPeriodic() read the xbox controller and adjust the DC motor accordingly
  {{{
     // Read xbox controller left joystick x axis
     // value returned is between -1.0 and 1.0
     double x = xbox.getX(Hand.kLeft); 
     // DC Motor controllers apply between -1.0 (full reverse)
     // 0=stop and +1.0 (full forward) power
     // Set motor speed based on joystick
     m_rearLeft.set(x);
  }}}

Note: you'll need to press the Enable button on the driver station to put the robot in Teleop mode so that teleopPeriodic() is called repeatedly.

* Extra Credit: use the left joystick Y axis to control the left motor power and the right joystick Y axis to control the right motor power...now you have a driveable robot!

== Fifth program: Encoder
In the example above, we controlled the amount of power we were delivering the motor (0=none, 1.0=full power), but that doesn't tell us how fast the robot is moving or the wheel is turning.  Just like a car or a bicycle, the speed a robot will go under a given amount of power depends on how heavy the robot is, whether it's going up a hill or down a hill, etc.  To tell how fast a wheel is turning or to determine exactly where it has turned, we use encoders.  An encoder is a device attached to the motor or wheel shaft that generates a pulse with each partial rotation (e.g. every 5-degrees of rotation, another pulse is generated).  By counting these pulses, we can tell how fast the wheel is turning or what position it is in.  You can read more about encoders [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599717-encoders-measuring-rotation-of-a-wheel-or-other-shaft here].

Create another program using the !TimedRobot java template and name it !EncoderTest. Modify the generated code as follows:

* Add the following imports:
{{{
import edu.wpi.first.wpilibj.Encoder;
}}}
*  Declare a variable for the Encoder in the Robot class
{{{ 
  private Encoder leftEncoder;
}}}
* •	In robotInit() instantiate the Encoder object and reset it
  {{{
    // Quadrature encoder has A and B channels connected to DIO0, DIO1
    leftEncoder = new Encoder(0, 1);
    // Peanut wheels are 7.5" in diameter
    // Encoders provide 1 count per degree of rotation
    leftEncoder.setDistancePerPulse((3.141592*7.5)/360);
    // reset encoder counts to 0
    leftEncoder.reset();
  }}}
* In robotPeriodic() read and display the encoder valuey
  {{{
    int encoderValue = leftEncoder.getRaw();
    double distance = leftEncoder.getDistance();
    SmartDashboard.putNumber("Encoder Value", encoderValue);
    SmartDashboard.putNumber("Encoder Distance", distance);
  }}}
 
Note: you'll need to manually turn the left wheel forward and backward to see the Encoder values change. Try turning the wheel 360 degrees to see what value is equivalent to a full revolution of the wheel.  Notice that the raw count reports the sum of both A and B channels of the quadrature encoder.

== Sixth program: Autonomous
In the examples above, we learned to apply power to the wheel motors and to see how far the wheel has turned using encoders.  Now we're going to put them together to drive the robot a controlled distance.  We're also going to learn about autonomous mode.  Every FRC match starts with a 15 second autonmous period where the robot drives itself and tries to accomplish some task with no human driver.  For this example, our task is just to drive 3 feet and then stop (harder than it sounds).

Create another program using the !TimedRobot java template and name it !AutonomousTest1. Modify the generated code as follows:

* Add the following imports:
{{{
import edu.wpi.first.wpilibj.Encoder;
import com.ctre.phoenix.motorcontrol.can.*; // for Hazelnut
import edu.wpi.first.wpilibj.Talon;         // for Macadamia
}}}
*  Declare variables for the Encoders and Motor controllers in the Robot class
{{{ 
  private Encoder leftEncoder, rightEncoder;

  // Uncomment next line for Macademia
  // private Talon leftMotor, rightMotor;
  // Uncomment next line for Hazelnut
  // private WPI_TalonSRX leftMotor, rightMotor;
}}}
*  In robotInit() instantiate the Encoder and Motor objects
  {{{
    // Quadrature encoder has A and B channels connected to DIO0, DIO1
    leftEncoder = new Encoder(0, 1);
    rightEncoder = new Encoder(2, 3);
    // Peanut wheels are 7.5" in diameter
    // Encoders provide 1 count per degree of rotation
    leftEncoder.setDistancePerPulse((3.141592*7.5)/360);
    rightEncoder.setDistancePerPulse((3.141592*7.5)/360);

    // Uncomment the next two lines for Macademia
    // leftMotor = new Talon(0);
    // rightMotor = new Talon(1);

    // uncoment the next two lines for Hazelnut
    // leftMotor = new WPI_TalonSRX(3);
    // rightMotor = new WPI_TalonSRX(4);
  }}}

* In robotPeriodic() display the encoder values
  {{{
    SmartDashboard.putNumber("Left", leftEncoder.getDistance());
    SmartDashboard.putNumber("Right", rightEncoder.getDistance());
  }}}

* In autonomousInit() reset the encoder counts and start the motors:
  {{{
    // reset encoder counts to 0
    leftEncoder.reset();
    rightEncoder.reset();
    // start motors turning forward at 20% power
    leftMotor.set(0.20);
    // to go forward, left motor turns clockwise, right motor counter-clockwise
    rightMotor.set(-0.20);
  }}}

* In the default section of autonomousPeriodic() stop if we've gone the desired distance.
  Notice our first use of the logical OR operator (!||) to test whether either of two conditions is true
  {{{
        if ((leftEncoder.getDistance() > 36.0) || 
            (rightEncoder.getDistance() > 36.0)) {
           leftMotor.stopMotor();
           rightMotor.stopMotor();
        }
   }}}

When you launch the driver station, you'll need to select "Autonomous" mode (look above the Enable button) and then press the Enable button.  The autonomousInit() method will run first and then the autonomousPeriodic() method will be called repeatedly until the robot is disabled.  If your robot isn't doing what it should be, press the Disable button immediately to stop the robot.

Why didn't the robot go straight?  

Extra credit: See if you can make it go straight.

== Seventh program: Closed Loop Control
In the last example, we saw why robot programming is challenging: robots work in the real world where wheels slip, motors have different powers, wheels aren't inflated equally, and floors aren't perfectly level.  The robot didn't go straight and didn't stop at exactly 36".  What makes robots interesting and powerful is their ability to sense their environment and respond to it.  In the basic Autonomous example, one wheel was turning faster than the other so the robot turned.  Since the encoders were reporting this, we can modify our program to compensate.  The simplest way to do this is to proportionally increase the motor power of the wheel that's going slower.  

MODIFY the last program as follows:

* Add the following imports:
{{{
  import edu.wpi.first.wpilibj.Timer;
}}}

*  Add variables for closed loop control in the Robot class
  {{{ 
    private double  leftPower, rightPower;
    private Timer   autoTimer;
    private boolean autoDone; 
  }}}

*  In robotInit() instantiate the new Timer object
  {{{
    autoTimer = new Timer();
  }}}

* In robotPeriodic() add the motor power settings to the smart dashboard
  {{{
    SmartDashboard.putNumber("Left power", leftPower);
    SmartDashboard.putNumber("Right power", rightPower);
  }}}

* In autonomousInit() initialize the motor powers and start the timer we created
  so we can periodically adjust the motor power to keep the robot going straight:
  {{{
    // start motors turning forward at 20% power
    leftPower = 0.20;
    leftMotor.set(leftPower);
    // to go forward, left motor turns clockwise, right motor counter-clockwise
    rightPower = -0.20;
    rightMotor.set(rightPower);

    autoTimer.start();
    autoDone = false;
  }}}

* In the default section of autonomousPeriodic() periodically adjust the motor powers
  and stop if we've gone the desired distance.
  {{{
       if (!autoDone) {
          // adjust motor power every 1/4 second to keep us going straight
          if (autoTimer.hasPeriodPassed(0.25)) {
            // if we're going straight, leftDistance == rightDistance
            // otherwise, compute the error and adjust the motor powers to minimize it
            double error = leftEncoder.getDistance() - rightEncoder.getDistance();
            double kP = 0.01; // proportion of error used to correct motor power
            // adjust motor power to try to keep left/right distances same
            leftPower  -= kP*error; // positive error means left is going too fast
            rightPower -= kP*error; // right motor spins opposite direction of left
            leftMotor.set(leftPower);
            rightMotor.set(rightPower);
          }
          if ((leftEncoder.getDistance() > 36.0) || 
              (rightEncoder.getDistance() > 36.0)) {
              leftMotor.stopMotor();
              rightMotor.stopMotor();
              autoDone = true;
          }
       }
   }}}

This is the simplest form of closed-loop control: we are sensing position information (left, right distances) and adjusting powers proportionally (kP) to try to minimize the error.  There are more sophisticated ways to do this that consider how quickly the robot is approaching its goal (derivative of error) and how long and how severely it has been off its target (integral of error).  The PID control loop uses all of these for more precise and responsive closed loop control.

Notice that there are two critical values in this control loop:
  * How often the control loop runs (every 0.25 seconds in the above example)
  * How much the control loop adjusts the power based on the sensed inputs (kP=0.01 in the above example)
  * Try printing the error and adjusted motor powers using System.out.println(...) to see what adjustments are taking place.
Try experimenting with these values (carefully and changing them a little at a time) to see what effect they have.  Be prepared to hit the Disable button or space bar when testing!


== Study some examples
Learn more about robot programming by studying some simple example programs.  Run them, study what they do, and incrementally expand their functionality.  The WPILib software you installed includes example programs that you can compile and run on a RoboRIO.  Review [https://wpilib.screenstepslive.com/s/currentCS/m/79833/l/941601-vs-code-basics-and-wpilib-in-vs-code how to use VSCode] and then try [https://wpilib.screenstepslive.com/s/currentCS/m/79833/l/932465-creating-a-new-wpilib-project-in-vs-code creating a new robot project].

* WPILib provides [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599697-choosing-a-base-class 3 frameworks] for building robot programs.  Build your first program using the !TimedRobot (previously had been !IterativeRobot) framework as described [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/145307-creating-your-benchtop-test-program here].

   * Connect your laptop to the RoboRIO USB port or !WiFi
   * Connect your joystick or xbox controller to another USB port on your laptop
   * Launch the NI Driver Station Software.  For details see [https://wpilib.screenstepslive.com/s/4485/m/24192/l/144976-frc-driver-station-powered-by-ni-labview here]
   * Confirm that the software detects your joystick/controller and responds to button presses and stick movement 
   * Use Microsoft Internet Explorer (not Chrome or Firefox) to connect to the RoboRIO's web interface (usually at http://172.22.11.2) and confirm that you have connectivity with the RobORIO
   * Create a test project and follow [https://wpilib.screenstepslive.com/s/currentCS/m/79833/l/932465-creating-a-new-wpilib-project-in-vs-code these instructions] to build, load, and run it on your RoboRIO/Robot

* Create another WPILib project based on the !TimedRobot framework 
   * Study an [wiki://ControlSystems/IntroRobotJava/HazelnutSample1 example program].  This is a simple program for one of our test robots: Peanut 2 (Hazelnut)
      * 2-wheel-drive (2WD) robot with two CIM motors driving plaction wheels
      * Motors are controlled by Talon SRX smart motor controllers; these are networked to the roboRIO (robot control computer) using CAN bus and are at addresses 3 (left motor) and 4 (right motor)
      * An ultrasonic sensor for forward collision avoidance connected to roboRIO digital I/O pins (DIO) 0 and 1
      * A USB camera so you can drive even when you can't see the robot
      * The driver controls the robot using the two analog sticks on an X-box game controller
   * Copy the program below over the default Robot.java created by the framework
   * Use the WPILib->Manage Vendor Libraries->Install New Libraries Offline->select the CTRE Framework

* More sample code for Hazelnut (peanut robot) is [wiki:ControlSystems/SampleCode/Hazelnut here]
* A sample program to use ultrasonic sensors is [wiki:ControlSystems/SampleCode/Ultrasonic here]
* A sample program to use xbox controllers is [wiki:ControlSystems/SampleCode/XboxController here]
* You can learn more about FRC robot programming [https://frc-pdr.readthedocs.io/en/latest/index.html here]
* You can learn more about game controllers [https://github.com/MTHSRoboticsClub/Documentation/wiki/Drive-Controller-Comparison here]

* Note: the sample program assumes two !TalonSRX motor controllers at IDs 3 and 4.  You can set them using the CTRE Phoneix Tuner
* Note: the !RoboRIO web web interface is available via browser at 10.25.37.2