WPILib Programming Basics#

Making FRC Programming Easy

WPI Lib

What is WPILib#

The WPI Robotics library (WPILib) is a set of software classes that interfaces with the hardware and software in your FRC RoboRIO.
- There are classes to handle sensors, motor speed controllers, the driver station, and a number of other utility functions.
Documentation is available at http://first.wpi.edu/FRC/roborio/release/docs/java
WPILib adds those sensors and controllers as additional data types (like int or double) and classes.

Examples

Talon, Solenoid, Encoder...

Command Based Robot#

For our programming tutorial we will be creating a Command based robot
Command Based Robots are much like Lego, with very basic pieces you can make something simple like a small house or complicated like an entire Lego city.
A command based robot is broken down into subsystem classes and command classes.
In the code, a command based robot is made up of 3 packages (folders) labeled robot, commands, and subsystems
There are other types of robots but we will use Command Based

Subsystems#

A subsystem is a special template class made by FRC.
In robotics, subsystems are sections of the whole robot.
- For example every FRC robot has a Drivetrain subsystem which is what controls the robot’s driving both physically and programmatically.
  - To avoid confusion between software and mechanical teams, subsystems should be called the same thing. If we have a ball intake system, we will both call it Intake or Collector.
- Subsystems of a robot can contain parts to control or read data from.
  - The Drivetrain subsystem could contain motor controllers and encoders both physically and programmatically.
Using a dog as an example: the legs, tail, and head are subsystems.
- The head subsystem has the parts: eyes, ears, and nose.
When programming subsystems we use variables and methods to tell our subsystem what it has and what it is capable of or should do.
- These variables will be the parts in the subsystem
- These methods will define what those parts are capable of.
Using a dog head subsystem as an example:
- Some variables (parts) would be: leftEye, rightEye, nose, leftEar, rightEar.
- Some example methods would be closeEyes or openEyes since these are things the dog are capable of.
  - These methods would use both the leftEye and rightEye and close them.
Example
```
//This method closes the dog eyes
public void closeEyes(){
    leftEye.close();
    rightEye.close();
```
- A robot example of a Drivetrain subsystem would have leftMotor, and rightMotor as variables and setSpeed as a method telling it how to set the speed of those motor controllers.
- Having the setSpeed method tells our program that our Drivetrain subsystem can set its speed.
- Example
```
//This method sets the speed of the drivetrain
public void setSpeed(double speed){
    leftMotor.set(speed);
    rightMotor.set(speed);
}
```

Commands#

A command is a special template class (file) made by FRC.
In robotics, commands are actions you want a robot to do (just like a real life command).
- A command is an action a subsystem(s) performs.
- For example you may want your robot to drive full speed forward so you make a command class called DriveForward.
  - Since a robot uses a Drivetrain subsystem to control its motors, this command would call our previously created setSpeed method from that subsystem.

Tip

Subsystems define what the robot is made of and what it can do while commands actually tell the robot to do those things

Using a dog as an example we can tell the dog to blink by creating a BlinkEyes command
- The command would call the method, closeEyes() then the method openEyes()

BlinkEyes Command

//This command will continuously run the two methods in execute
protected void execute() {
    dog.head.closeEyes();
    dog.head.openEyes();
}

A robot example of a DriveForward command would call (use) the setSpeed methods that we created in the Drivetrain subsystem
DriveForward, when executed, will tell our robot to drive forward using the Drivetrain subsystem

DriveForward Command

//This command tells the robot to drive forward full speed
protected void initialize(){
    robot.drivetrain.setSpeed(1.0);
}

Default Command Structure#

The template for FRC commands actually come with some pre-defined methods that have special properties for FRC robots, they are:
- void initialize() - Methods in here are called just before this Command runs the first time.
- void execute() - Methods in here are called repeatedly when this Command is scheduled to run
- boolean isFinished() - When this returns true, the Command stops running execute()
- void end() - Methods in here are called once after isFinished returns true
- void interrupted() - Methods in here are called when another command which requires one or more of the same subsystems is scheduled to run

Tip

It is good practice to call end() in interrupted()

Overview of execution#

In FRC programming our main class is Robot.java and all other classes (command files and subsystem files) must be loaded from Robot.java either directly or indirectly

Example

Robot.java loads RobotContainer.java, RobotContainer.java loads DriveForward.java.

All subsystem files must be added to RobotContainer.java.
- This loads our subsystems into the code and allow its public methods to be useable by other files such as commands later by typing RobotContainer.nameOfSubsystem.desiredMethod();

New Project Files#

See Default Project Contents

Summary#

Command based robots are broken down into subsystems and commands
Subsystems define what the robot is made of and what it can do while commands actually tell the robot to do those things
All classes must directly or indirectly connect to Robot.java.
- All Subsystems must be added to RobotContainer.java
RobotMap.java holds port numbers and IDs accessible throughout the program by typing: RobotMap.NameOfMotor()
RobotContainer.java contains our publicly accessible instances of our subsystems. It also connects our commands to physical controllers.