Controlling FRC Robots

FRC robots are controlled by an on-board computer and operate in one of three modes:

• Teleop - Remote control like driving an R/C car
• Autonomous - The robot operates independently according to programmed instructions
• Test - For quick shop or pit testing of specific robot components

There are several ​major components of the control system:

• ​roboRIO on-board computer
• ​Video camera(s)
• ​Wireless link (radio)
• ​Remote Driver Station (laptop and joysticks)
• ​Environment sensors
  • ​Switches
  • Proximity sensors/range finders
  • Automatic vision systems
  • Navigation sensors (compass, gyroscope, etc.)
• ​Actuator (e.g. motor) controllers
• and of course, software programs

Teleop Control

When an FRC robot is in Teleop mode, a human driver stands at a Driver Station (see picture to right): a laptop running special software and joysticks or gamepads for controlling the robot's actions; the laptop connects to the robot using a wireless radio. In many ways, a robot in teleop mode is like a giant, sophisticated remote-control car.

The driver station laptop typically displays status information about the robot and can display video streaming from the robot's cameras. The human driver watches the video and controls the robot using joysticks or a gamepad to remotely drive the robot and operate its mechanisms. The picture to the right shows a driver station ready to run at a competition. One or two human players will use the joysticks and buttons to control every action of the robot. Teams typically use ​one or two joysticks to drive the robot; with two joysticks, one controls the left motors and the other the right motors in an arrangement known as tank drive.