Programming Practice Project Overview

This project comes with a simple simulated robot:

• It has one motor that controls how far the robot moves forward and backward.
• The motor’s position is multiplied by the wheel radius to calculate how far the robot has “driven” in this simulation (ask me if you want a break-down on the math behind this).

You’ll be working with three main pieces of code:

• DriveSubsystem: Controls the robot’s drive motor
• DriveIO / DriveIOSim: Handles real/simulated motor input/output
• Autos: Defines commands that tell the robot what to do automatically

Assignments

1 - Drive Forward

Make the robot move forward in autonomous by implementing the Autos.driveForward() command. The Autos class contains the setDriveVoltage command which can be used to move the robot. This command will tell the DriveSubsystem to set its motor to the provided voltage, moving the robot forward/backward. The Format of a Command for how a command is formatted.

2 - Drive Forward and Backward

Write a Autos.driveForwardAndBack method that makes the robot drive forward for 5 seconds, then drive backwards for 3 seconds, then stops moving.

Hint: You'll probably want to use Commands.sequence() to construct a command that drives the robot forward, waits 5 seconds, drives the robot backwards (negative applied voltage), waits for 3 seconds, then sets the drive voltage to 0.

3 - Basic Controller

Make the robot execute the Autos.driveForwardAndBack command when the driver presses 'a'.

Resources

The Format of a Command

  /** An example command */
  public static Command exampleCommand() {
    // Return the command to be run
    return Commands.sequence(                        // 'Commands.sequence()' runs the following commands in the order that they are provided
      Commands.print("This is an example command!"), // 'Commands.print()' is a command that prints a message to the console
      Commands.waitSeconds(1),                       // 'Commands.waitSeconds()' is a command that pauses for the provided number of seconds
      Commands.print("Hello after 1 second!")
    );
  }

Using a Controller

import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

public class RobotContainer {
    private final CommandXboxController m_controller;

    public RobotContainer() {
        m_controller = new CommandXboxController(0);
    }

    public void configureBindings() {
        m_controller.a().onTrue(Commands.print("A was pressed!"));
    }
}