| 28 | | |
| 29 | | == Start with an example |
| 30 | | The best way to learn about robot programming a robot is to start with a simple example program, run it, study what it does, and incrementally expand its 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]. |
| 31 | | |
| 32 | | * 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]. |
| 33 | | |
| 34 | | * Connect your laptop to the RoboRIO USB port |
| 35 | | * Connect your joystick or xbox controller to another USB port on your laptop |
| 36 | | * 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] |
| 37 | | * Confirm that the software detects your joystick/controller and responds to button presses and stick movement |
| 38 | | * 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 |
| 39 | | * 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 |
| 40 | | |
| 41 | | **Congratulations**, you've just built and run your first robot program. |
| 42 | | |
| 43 | | * Create another WPILib project based on the !TimedRobot framework |
| 44 | | * Study an example program. This is a simple program for one of our test robots: Peanut 2. |
| 45 | | * 2-wheel-drive (2WD) robot with two CIM motors driving plaction wheels |
| 46 | | * 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) |
| 47 | | * An ultrasonic sensor for forward collision avoidance connected to roboRIO digital I/O pins (DIO) 0 and 1 |
| 48 | | * A USB camera so you can drive even when you can't see the robot |
| 49 | | * The driver controls the robot using the two analog sticks on an X-box game controller |
| 50 | | * Copy the program below over the default Robot.java created by the framework |
| 51 | | * Use the WPILib->Manage Vendor Libraries->Install New Libraries Offline->select the CTRE Framework |
| 52 | | {{{ |
| 53 | | |
| 54 | | package frc.robot; |
| 55 | | |
| 56 | | // Import the classes of objects you will use |
| 57 | | import edu.wpi.first.wpilibj.TimedRobot; |
| 58 | | import edu.wpi.first.wpilibj.XboxController; |
| 59 | | import edu.wpi.first.wpilibj.GenericHID.Hand; |
| 60 | | import edu.wpi.first.wpilibj.Timer; |
| 61 | | import edu.wpi.first.wpilibj.drive.DifferentialDrive; |
| 62 | | import com.ctre.phoenix.motorcontrol.can.*; |
| 63 | | import edu.wpi.first.wpilibj.Ultrasonic; |
| 64 | | import edu.wpi.first.wpilibj.CameraServer; |
| 65 | | |
| 66 | | import edu.wpi.first.wpilibj.livewindow.LiveWindow; |
| 67 | | |
| 68 | | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
| 69 | | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
| 70 | | |
| 71 | | /** |
| 72 | | * The VM is configured to automatically run this class, and to call the |
| 73 | | * functions corresponding to each mode, as described in the TimedRobot |
| 74 | | * documentation. If you change the name of this class or the package after |
| 75 | | * creating this project, you must also update the build.gradle file in the |
| 76 | | * project. |
| 77 | | */ |
| 78 | | public class Robot extends TimedRobot { |
| 79 | | // Create instances of each object |
| 80 | | private static final String kDefaultAuto = "Default"; |
| 81 | | private static final String kCustomAuto = "My Auto"; |
| 82 | | private String m_autoSelected; |
| 83 | | private final SendableChooser<String> m_chooser = new SendableChooser<>(); |
| 84 | | private XboxController xbox; |
| 85 | | private Timer timer; |
| 86 | | private WPI_TalonSRX m_rearLeft; |
| 87 | | private WPI_TalonSRX m_rearRight; |
| 88 | | private DifferentialDrive m_drive; |
| 89 | | private boolean f_safetyStop; |
| 90 | | private Ultrasonic f_ultrasonic; |
| 91 | | |
| 92 | | /** |
| 93 | | * This function is run when the robot is first started up and should be |
| 94 | | * used for any initialization code. |
| 95 | | */ |
| 96 | | @Override |
| 97 | | public void robotInit() { |
| 98 | | // initialize the objects and connect them to their underlying hardware |
| 99 | | m_chooser.addDefault("Default Auto", kDefaultAuto); |
| 100 | | m_chooser.addObject("My Auto", kCustomAuto); |
| 101 | | SmartDashboard.putData("Auto choices", m_chooser); |
| 102 | | xbox = new XboxController(0); |
| 103 | | timer = new Timer(); |
| 104 | | m_rearLeft = new WPI_TalonSRX(4); |
| 105 | | m_rearRight = new WPI_TalonSRX(3); |
| 106 | | m_drive = new DifferentialDrive(m_rearLeft, m_rearRight); |
| 107 | | f_ultrasonic = new Ultrasonic(1,0); // ping, echo |
| 108 | | f_ultrasonic.setAutomaticMode(true); |
| 109 | | f_ultrasonic.setEnabled(true); |
| 110 | | CameraServer.getInstance().startAutomaticCapture(); |
| 111 | | } |
| 112 | | |
| 113 | | /** |
| 114 | | * This function is called every robot packet, no matter the mode. Use |
| 115 | | * this for items like diagnostics that you want ran during disabled, |
| 116 | | * autonomous, teleoperated and test. |
| 117 | | * |
| 118 | | * <p>This runs after the mode specific periodic functions, but before |
| 119 | | * LiveWindow and SmartDashboard integrated updating. |
| 120 | | */ |
| 121 | | @Override |
| 122 | | public void robotPeriodic() { |
| 123 | | } |
| 124 | | |
| 125 | | /** |
| 126 | | * This autonomous (along with the chooser code above) shows how to select |
| 127 | | * between different autonomous modes using the dashboard. The sendable |
| 128 | | * chooser code works with the Java SmartDashboard. If you prefer the |
| 129 | | * LabVIEW Dashboard, remove all of the chooser code and uncomment the |
| 130 | | * getString line to get the auto name from the text box below the Gyro |
| 131 | | * |
| 132 | | * <p>You can add additional auto modes by adding additional comparisons to |
| 133 | | * the switch structure below with additional strings. If using the |
| 134 | | * SendableChooser make sure to add them to the chooser code above as well. |
| 135 | | */ |
| 136 | | @Override |
| 137 | | public void autonomousInit() { |
| 138 | | m_autoSelected = m_chooser.getSelected(); |
| 139 | | // autoSelected = SmartDashboard.getString("Auto Selector", |
| 140 | | // defaultAuto); |
| 141 | | System.out.println("Auto selected: " + m_autoSelected); |
| 142 | | timer.reset(); |
| 143 | | timer.start(); |
| 144 | | } |
| 145 | | |
| 146 | | /*public void teleopInit() { |
| 147 | | |
| 148 | | }*/ |
| 149 | | |
| 150 | | /** |
| 151 | | * This function is called periodically during autonomous. |
| 152 | | */ |
| 153 | | @Override |
| 154 | | public void autonomousPeriodic() { |
| 155 | | if (timer.get() < 2.0) { |
| 156 | | m_drive.curvatureDrive(0.1, 0.0, false); |
| 157 | | } |
| 158 | | else |
| 159 | | { |
| 160 | | m_drive.curvatureDrive(0.0, 0.0,false); |
| 161 | | } |
| 162 | | switch (m_autoSelected) { |
| 163 | | case kCustomAuto: |
| 164 | | // Put custom auto code here |
| 165 | | break; |
| 166 | | case kDefaultAuto: |
| 167 | | default: |
| 168 | | // Put default auto code here |
| 169 | | break; |
| 170 | | } |
| 171 | | } |
| 172 | | |
| 173 | | /** |
| 174 | | * This function is called periodically during operator control. |
| 175 | | */ |
| 176 | | @Override |
| 177 | | public void teleopPeriodic() { |
| 178 | | |
| 179 | | // Use front-mounted ultrasonic sensor to stop robot |
| 180 | | // if it gets too close to an obstacle |
| 181 | | double f_range = f_ultrasonic.getRangeInches(); |
| 182 | | if (f_ultrasonic.isRangeValid()) { |
| 183 | | if ((f_range < 15.0) && !f_safetyStop) { |
| 184 | | System.out.println("Safety stopped due to front obstacle"); |
| 185 | | f_safetyStop = true; |
| 186 | | } else if (f_range >= 15.0 && f_safetyStop) { |
| 187 | | System.out.println("Resuming..."); |
| 188 | | f_safetyStop = false; |
| 189 | | } |
| 190 | | } |
| 191 | | |
| 192 | | // Use controller joysticks to set drive speed, but |
| 193 | | // safety stop if too close to an obstacle |
| 194 | | double leftSpeed = -0.5*xbox.getY(Hand.kLeft); |
| 195 | | double rightSpeed = -0.5*xbox.getY(Hand.kRight); |
| 196 | | // If there's an obstacle in front of us, don't |
| 197 | | // allow any more forward motion |
| 198 | | if (f_safetyStop && |
| 199 | | (leftSpeed > 0.0) && (rightSpeed > 0.0)) { |
| 200 | | m_drive.stopMotor(); |
| 201 | | } else { |
| 202 | | // otherwise, set motors according to joysticks |
| 203 | | m_drive.tankDrive(leftSpeed, rightSpeed); |
| 204 | | } |
| 205 | | Timer.delay(0.01); |
| 206 | | } |
| 207 | | |
| 208 | | /** |
| 209 | | * This function is called periodically during test mode. |
| 210 | | */ |
| 211 | | @Override |
| 212 | | public void testPeriodic() { |
| 213 | | // LiveWindow.run(); |
| 214 | | } |
| 215 | | } |
| 216 | | |
| 217 | | }}} |
| 218 | | |
| 219 | | * Sample code for Hazelnut (peanut robot) is [wiki:ControlSystems/SampleCode/Hazelnut here] |
| 220 | | * A sample program to use ultrasonic sensors is [wiki:ControlSystems/SampleCode/Ultrasonic here] |
| 221 | | * A sample program to use xbox controllers is [wiki:ControlSystems/SampleCode/XboxController here] |
| 222 | | * You can learn more about FRC robot programming [https://frc-pdr.readthedocs.io/en/latest/index.html here] |
| 223 | | * You can learn more about game controllers [https://github.com/MTHSRoboticsClub/Documentation/wiki/Drive-Controller-Comparison here] |
| 224 | | |
| 225 | | * Note: you can also program and operate a peanut robot wirelessly: |
| 226 | | * Find the Peanut's !WiFi access point and connect to it; the default password is "password" |
| 227 | | * From within VSCode, choose WPILib->Deploy Robot Code |
| 228 | | * Launch the Driver Station |
| 229 | | * Enable and then start driving! |
| 230 | | |
| 231 | | * Note: the sample program assumes two !TalonSRX motor controllers at IDs 3 and 4. You can set them using the CTRE Phoneix Tuner |
| 232 | | * Note: the !RoboRIO web web interface is available via browser at 10.25.37.2 |
