Welcome to Software!

Gear Needed

To start developing robot software for team 2537 you will need the following

• A laptop running Windows 7 or Windows 10
• USB ​A-B cable
• USB ​Joystick or USB ​XBox controller
• Optional: USB ​webcam
• One of:
  • A robot
  • A RoboRIO (the computer that controls the robot) and a 12v power supply

Setup your laptop:

1. Install the Java ​JDK 8
2. Install Git (if not already on your computer) from ​here
3. Install Microsoft ​VSCode and the ​latest WPILib extension. Detailed instructions are ​here
4. Install the National Instruments (NI) FRC 2018 Update Suite ​here. Detailed instructions are ​here
5. Install the ​CTRE Phoenix Framework

Update your roboRIO

The roboRIO is a full, headless (no screen or keyboard) linux computer and runs lots of software in addition to the code you write to drive your robot. For example, there is a very useful web server that provides access to the roboRIO and connected devices and lets you test them. To extend this web server to include support for the CTRE/CAN-connected devices, launch the CTRE Hero Lifeboat Imager, choose the FRC roboRio tab, and press the Install Phoenix/Web?-based Config button.

Start with an example

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 ​how to use VSCode and then try ​creating a new robot project.

• WPILib provides ​3 frameworks for building robot programs. Build your first program using the iterative robot framework as described ​here.

• Connect your laptop to the RoboRIO USB port
• Connect your joystick or xbox controller to another USB port on your laptop
• Launch the NI Driver Station Software. For details see ​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 ​these instructions to build, load, and run it on your RoboRIO/Robot

Congratulations, you've just built and run your first robot program.

• Create another WPILib project based on the IterativeRobot? framework
  • Study an example program. This is a simple program for one of our test robots: Peanut 2.
    • 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

      package frc.robot;
      
      // Import the classes of objects you will use
      import edu.wpi.first.wpilibj.IterativeRobot;
      import edu.wpi.first.wpilibj.XboxController;
      import edu.wpi.first.wpilibj.GenericHID.Hand;
      import edu.wpi.first.wpilibj.Timer;
      import edu.wpi.first.wpilibj.drive.DifferentialDrive;
      import com.ctre.phoenix.motorcontrol.can.*;
      import edu.wpi.first.wpilibj.Ultrasonic;
      import edu.wpi.first.wpilibj.CameraServer;
      
      import edu.wpi.first.wpilibj.livewindow.LiveWindow;
      
      import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
      import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
      
      /**
       * The VM is configured to automatically run this class, and to call the
       * functions corresponding to each mode, as described in the IterativeRobot
       * documentation. If you change the name of this class or the package after
       * creating this project, you must also update the build.gradle file in the
       * project.
       */
      public class Robot extends IterativeRobot {
        // Create instances of each object
        private static final String kDefaultAuto = "Default";
        private static final String kCustomAuto = "My Auto";
        private String m_autoSelected;
        private final SendableChooser<String> m_chooser = new SendableChooser<>();
        private XboxController xbox;
        private Timer timer;
        private WPI_TalonSRX m_rearLeft;
        private WPI_TalonSRX m_rearRight;
        private DifferentialDrive m_drive;
        private boolean    f_safetyStop;
        private Ultrasonic f_ultrasonic;
      
        /**
         * This function is run when the robot is first started up and should be
         * used for any initialization code.
         */
        @Override
        public void robotInit() {
          // initialize the objects and connect them to their underlying hardware
          m_chooser.addDefault("Default Auto", kDefaultAuto);
          m_chooser.addObject("My Auto", kCustomAuto);
          SmartDashboard.putData("Auto choices", m_chooser);
          xbox = new XboxController(0);
          timer = new Timer();
          m_rearLeft = new WPI_TalonSRX(4);
          m_rearRight = new WPI_TalonSRX(3);
          m_drive = new DifferentialDrive(m_rearLeft, m_rearRight);
          f_ultrasonic = new Ultrasonic(1,0); // ping, echo
          f_ultrasonic.setAutomaticMode(true);
          f_ultrasonic.setEnabled(true);
          CameraServer.getInstance().startAutomaticCapture();
      }
      
        /**
         * This function is called every robot packet, no matter the mode. Use
         * this for items like diagnostics that you want ran during disabled,
         * autonomous, teleoperated and test.
         *
         * <p>This runs after the mode specific periodic functions, but before
         * LiveWindow and SmartDashboard integrated updating.
         */
        @Override
        public void robotPeriodic() {
        }
      
        /**
         * This autonomous (along with the chooser code above) shows how to select
         * between different autonomous modes using the dashboard. The sendable
         * chooser code works with the Java SmartDashboard. If you prefer the
         * LabVIEW Dashboard, remove all of the chooser code and uncomment the
         * getString line to get the auto name from the text box below the Gyro
         *
         * <p>You can add additional auto modes by adding additional comparisons to
         * the switch structure below with additional strings. If using the
         * SendableChooser make sure to add them to the chooser code above as well.
         */
        @Override
        public void autonomousInit() {
          m_autoSelected = m_chooser.getSelected();
          // autoSelected = SmartDashboard.getString("Auto Selector",
          // defaultAuto);
          System.out.println("Auto selected: " + m_autoSelected);
          timer.reset();
          timer.start();
        }
      
        /*public void teleopInit() {
      
        }*/
      
        /**
         * This function is called periodically during autonomous.
         */
        @Override
        public void autonomousPeriodic() {
          if (timer.get() < 2.0) {
            m_drive.curvatureDrive(0.1, 0.0, false);
          }
          else
          {
            m_drive.curvatureDrive(0.0, 0.0,false);
          }
          switch (m_autoSelected) {
            case kCustomAuto:
              // Put custom auto code here
              break;
            case kDefaultAuto:
            default:
              // Put default auto code here
              break;
          }
        }
      
        /**
         * This function is called periodically during operator control.
         */
        @Override
        public void teleopPeriodic() {
      
          // Use front-mounted ultrasonic sensor to stop robot
          // if it gets too close to an obstacle
          double f_range = f_ultrasonic.getRangeInches();
          if (f_ultrasonic.isRangeValid()) {
             if ((f_range < 15.0) && !f_safetyStop) {
                System.out.println("Safety stopped due to front obstacle");
                f_safetyStop = true;
             } else if (f_range >= 15.0 && f_safetyStop) {
                System.out.println("Resuming...");
                f_safetyStop = false;
             }
          }
      
          // Use controller joysticks to set drive speed, but
          // safety stop if too close to an obstacle
          double leftSpeed  = -0.5*xbox.getY(Hand.kLeft);
          double rightSpeed = -0.5*xbox.getY(Hand.kRight);
          // If there's an obstacle in front of us, don't
          // allow any more forward motion
          if (f_safetyStop && 
              (leftSpeed > 0.0) && (rightSpeed > 0.0)) {
             m_drive.stopMotor();
          } else {
            // otherwise, set motors according to joysticks
             m_drive.tankDrive(leftSpeed, rightSpeed);
          }
          Timer.delay(0.01);
        }
      
        /**
         * This function is called periodically during test mode.
         */
        @Override
        public void testPeriodic() {
          // LiveWindow.run();
        }
      }
      
      

• You can learn more about FRC robot programming ​here
• You can learn more about game controllers ​here