From f2a31f71ec9bbf8059a19324fa022434a3ad10e7 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 30 Jun 2026 22:30:38 -0500 Subject: [PATCH 01/25] some motor control stuff --- .../src/main/java/first/robot/Robot.java | 2 + .../src/main/java/first/robot/Robot.java | 2 + src/content/docs/stage1/kitbot-drivetrain.mdx | 39 +++++++++++++++++++ src/content/docs/stage1/stage1-overview.mdx | 6 +++ 4 files changed, 49 insertions(+) create mode 100644 src/content/docs/stage1/kitbot-drivetrain.mdx create mode 100644 src/content/docs/stage1/stage1-overview.mdx diff --git a/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java b/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java index 73934251..dae84695 100644 --- a/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java +++ b/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java @@ -26,6 +26,7 @@ */ public class Robot extends OpModeRobot { + // [DriveMotors] private final int leftLeaderID = 0; public TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); @@ -33,6 +34,7 @@ public class Robot extends OpModeRobot { private final int rightLeaderID = 2; public TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); + // [/DriveMotors] public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); diff --git a/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java b/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java index 545865d2..17f777f6 100644 --- a/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java +++ b/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java @@ -18,10 +18,12 @@ public class Robot extends OpModeRobot { + // [DriveMotors] private SparkMax leftLeader = new SparkMax(0, 0, MotorType.kBrushless); private SparkMax leftFollower = new SparkMax(0, 1, MotorType.kBrushless); private SparkMax rightLeader = new SparkMax(0, 2, MotorType.kBrushless); private SparkMax rightFollower = new SparkMax(0, 3, MotorType.kBrushless); + // [/DriveMotors] private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx new file mode 100644 index 00000000..6b9748d7 --- /dev/null +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -0,0 +1,39 @@ +--- +title: Kitbot Drivetrain +description: Programing the kitbot drivetrain +--- + +import { Tabs, TabItem } from '@astrojs/starlight/components'; + +# Motor Controllers + +The core of frc programing is telling motors what to do by giving commands to their motor controllers. +Vendors provide classes that can be used to both control and get sensor data from their motor controllers. +While each individual type of motor controller has its own class, motor controllers from the same vendor are +largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. + +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID so the code can +comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +- LeftLeader: CAN Bus 0, CAN ID 0 +- LeftFollower: CAN Bus 0, CAN ID 1 +- RightLeader: CAN Bus 0, CAN ID 2 +- Right Follower: CAN Bus 0, CAN ID 3 + + + + The spark max constructor takes the form of + ```java + SparkMax(int busId, int deviceId, MotorType type) + ``` + Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as + MotorType.Brushless for motors like a NEO and MotorType.brushed for motors like a CIM. This results in + the motor construction looking like this. + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + + \ No newline at end of file diff --git a/src/content/docs/stage1/stage1-overview.mdx b/src/content/docs/stage1/stage1-overview.mdx new file mode 100644 index 00000000..a629083b --- /dev/null +++ b/src/content/docs/stage1/stage1-overview.mdx @@ -0,0 +1,6 @@ +--- +title: Stage 1 Overview +description: An intro to the 2026 kitbot and the topics covered in this stage +next: stage1/kitbot-drivetrain +--- + From 477fa0123ca36fd2e6457bce54b824a56e67b580 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Fri, 3 Jul 2026 23:16:07 -0500 Subject: [PATCH 02/25] some intro on the drivetrain --- src/content/docs/stage1/kitbot-drivetrain.mdx | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx index 6b9748d7..ad78b7bc 100644 --- a/src/content/docs/stage1/kitbot-drivetrain.mdx +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -5,6 +5,14 @@ description: Programing the kitbot drivetrain import { Tabs, TabItem } from '@astrojs/starlight/components'; +# Drivetrain + +The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows +the robot to move similar to a tank by driving the left and right sides at different speeds. For this stage the four drivetrain +motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. "Becasue the motion of the robot is dependent +on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." <- SUSPECT SENTANCE IMPROVE PLS + + # Motor Controllers The core of frc programing is telling motors what to do by giving commands to their motor controllers. @@ -12,8 +20,8 @@ Vendors provide classes that can be used to both control and get sensor data fro While each individual type of motor controller has its own class, motor controllers from the same vendor are largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. -When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID so the code can -comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given +in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: - LeftLeader: CAN Bus 0, CAN ID 0 - LeftFollower: CAN Bus 0, CAN ID 1 - RightLeader: CAN Bus 0, CAN ID 2 @@ -35,5 +43,8 @@ comunicate with the proper controller. For this exercise the motor controllers w ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors ``` + For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on. + This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. - \ No newline at end of file + + From fe69253986908efecec2dc8cfd88d4ec5be4c5e3 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sun, 5 Jul 2026 15:36:06 -0500 Subject: [PATCH 03/25] motor config --- .../src/main/java/first/robot/Robot.java | 2 ++ .../src/main/java/first/robot/Robot.java | 3 +- src/content/docs/stage1/kitbot-drivetrain.mdx | 30 +++++++++++++++++-- 3 files changed, 31 insertions(+), 4 deletions(-) diff --git a/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java b/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java index dae84695..c8c6c180 100644 --- a/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java +++ b/examples/stage1/ctre/solution/src/main/java/first/robot/Robot.java @@ -53,6 +53,7 @@ public class Robot extends OpModeRobot { * initialization code. */ public Robot() { + // [MotorConfig] var leftConfig = new TalonFXConfiguration(); leftConfig.MotorOutput.withInverted(InvertedValue.Clockwise_Positive); leftLeader.getConfigurator().apply(leftConfig); @@ -63,6 +64,7 @@ public Robot() { leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); + // [/MotorConfig] } @Override diff --git a/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java b/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java index 17f777f6..08ce3020 100644 --- a/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java +++ b/examples/stage1/rev/solution/src/main/java/first/robot/Robot.java @@ -38,7 +38,7 @@ public class Robot extends OpModeRobot { new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); public Robot() { - + // [MotorConfig] var leftConfig = new SparkMaxConfig().inverted(true); leftLeader.configure(leftConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); leftFollower.configure( @@ -48,6 +48,7 @@ public Robot() { rightLeader.configure(rightConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); rightFollower.configure( rightConfig.follow(rightLeader), ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); + // [/MotorConfig] } @Override diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx index ad78b7bc..41fa515c 100644 --- a/src/content/docs/stage1/kitbot-drivetrain.mdx +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -8,9 +8,9 @@ import { Tabs, TabItem } from '@astrojs/starlight/components'; # Drivetrain The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows -the robot to move similar to a tank by driving the left and right sides at different speeds. For this stage the four drivetrain -motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. "Becasue the motion of the robot is dependent -on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." <- SUSPECT SENTANCE IMPROVE PLS +the robot to move similar to a tank by driving the left and right sides at different speeds. "Becasue the motion of the robot is dependent +on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." < SUSPECT SENTANCE IMPROVE PLS +For this stage the four drivetrain motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. # Motor Controllers @@ -48,3 +48,27 @@ in the constructor so the code can comunicate with the proper controller. For th +Motor Controllers have many settings that can be changed to ensure the motors are driven correctly < BAD +Vendors provide software like REV Client and Pheonix Tuner X to run and configure their devices from a computer; +however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. +This is especially useful when a motor controler needs to be swaped since the new motor controller may have configurations +that need to be removed and the proper configurations need to be added. Under time pressure it can be easy to forget all +of the configurations that need to be added and their proper values. + +For this section only the motor controller's invert setting will be configured. This setting controls what direction +the motor spins when the motor control is given a command with a positive sign. + +Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side +move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This +tells the Follower to listen to the commands given to the Leader and is why we gave one motor the name Leader and the other Follower. + + + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + \ No newline at end of file From 9fa7204690cfd52460f28b12efd5fffecb75a029 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 30 Jun 2026 22:30:38 -0500 Subject: [PATCH 04/25] some motor control stuff --- .../ctre/src/main/java/first/robot/Robot.java | 2 + .../rev/src/main/java/first/robot/Robot.java | 2 + src/content/docs/stage1/kitbot-drivetrain.mdx | 39 +++++++++++++++++++ src/content/docs/stage1/stage1-overview.mdx | 6 +++ 4 files changed, 49 insertions(+) create mode 100644 src/content/docs/stage1/kitbot-drivetrain.mdx create mode 100644 src/content/docs/stage1/stage1-overview.mdx diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index 8625e5c8..32576216 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -27,6 +27,7 @@ */ public class Robot extends OpModeRobot { + // [DriveMotors] private final int leftLeaderID = 0; public TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); @@ -34,6 +35,7 @@ public class Robot extends OpModeRobot { private final int rightLeaderID = 2; public TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); + // [/DriveMotors] public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index 65dcdd60..8fd94d16 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -19,10 +19,12 @@ public class Robot extends OpModeRobot { + // [DriveMotors] private SparkMax leftLeader = new SparkMax(0, 0, MotorType.kBrushless); private SparkMax leftFollower = new SparkMax(0, 1, MotorType.kBrushless); private SparkMax rightLeader = new SparkMax(0, 2, MotorType.kBrushless); private SparkMax rightFollower = new SparkMax(0, 3, MotorType.kBrushless); + // [/DriveMotors] private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx new file mode 100644 index 00000000..6b9748d7 --- /dev/null +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -0,0 +1,39 @@ +--- +title: Kitbot Drivetrain +description: Programing the kitbot drivetrain +--- + +import { Tabs, TabItem } from '@astrojs/starlight/components'; + +# Motor Controllers + +The core of frc programing is telling motors what to do by giving commands to their motor controllers. +Vendors provide classes that can be used to both control and get sensor data from their motor controllers. +While each individual type of motor controller has its own class, motor controllers from the same vendor are +largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. + +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID so the code can +comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +- LeftLeader: CAN Bus 0, CAN ID 0 +- LeftFollower: CAN Bus 0, CAN ID 1 +- RightLeader: CAN Bus 0, CAN ID 2 +- Right Follower: CAN Bus 0, CAN ID 3 + + + + The spark max constructor takes the form of + ```java + SparkMax(int busId, int deviceId, MotorType type) + ``` + Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as + MotorType.Brushless for motors like a NEO and MotorType.brushed for motors like a CIM. This results in + the motor construction looking like this. + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + + \ No newline at end of file diff --git a/src/content/docs/stage1/stage1-overview.mdx b/src/content/docs/stage1/stage1-overview.mdx new file mode 100644 index 00000000..a629083b --- /dev/null +++ b/src/content/docs/stage1/stage1-overview.mdx @@ -0,0 +1,6 @@ +--- +title: Stage 1 Overview +description: An intro to the 2026 kitbot and the topics covered in this stage +next: stage1/kitbot-drivetrain +--- + From 8fed7ed121fa4a18bfae77706740bae9e7be7325 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Fri, 3 Jul 2026 23:16:07 -0500 Subject: [PATCH 05/25] some intro on the drivetrain --- src/content/docs/stage1/kitbot-drivetrain.mdx | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx index 6b9748d7..ad78b7bc 100644 --- a/src/content/docs/stage1/kitbot-drivetrain.mdx +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -5,6 +5,14 @@ description: Programing the kitbot drivetrain import { Tabs, TabItem } from '@astrojs/starlight/components'; +# Drivetrain + +The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows +the robot to move similar to a tank by driving the left and right sides at different speeds. For this stage the four drivetrain +motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. "Becasue the motion of the robot is dependent +on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." <- SUSPECT SENTANCE IMPROVE PLS + + # Motor Controllers The core of frc programing is telling motors what to do by giving commands to their motor controllers. @@ -12,8 +20,8 @@ Vendors provide classes that can be used to both control and get sensor data fro While each individual type of motor controller has its own class, motor controllers from the same vendor are largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. -When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID so the code can -comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given +in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: - LeftLeader: CAN Bus 0, CAN ID 0 - LeftFollower: CAN Bus 0, CAN ID 1 - RightLeader: CAN Bus 0, CAN ID 2 @@ -35,5 +43,8 @@ comunicate with the proper controller. For this exercise the motor controllers w ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors ``` + For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on. + This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. - \ No newline at end of file + + From 00743e34befc37902dbcda17be0b355e8c55114f Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sun, 5 Jul 2026 15:36:06 -0500 Subject: [PATCH 06/25] motor config --- .../ctre/src/main/java/first/robot/Robot.java | 2 ++ .../rev/src/main/java/first/robot/Robot.java | 3 +- src/content/docs/stage1/kitbot-drivetrain.mdx | 30 +++++++++++++++++-- 3 files changed, 31 insertions(+), 4 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index 32576216..72aa7100 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -55,6 +55,7 @@ public class Robot extends OpModeRobot { * initialization code. */ public Robot() { + // [MotorConfig] var leftConfig = new TalonFXConfiguration(); leftConfig.MotorOutput.withInverted(InvertedValue.Clockwise_Positive); leftLeader.getConfigurator().apply(leftConfig); @@ -65,6 +66,7 @@ public Robot() { leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); + // [/MotorConfig] } @Override diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index 8fd94d16..a0e0069c 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -40,7 +40,7 @@ public class Robot extends OpModeRobot { new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); public Robot() { - + // [MotorConfig] var leftConfig = new SparkMaxConfig().inverted(true); leftLeader.configure( leftConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); @@ -56,6 +56,7 @@ public Robot() { rightConfig.follow(rightLeader), ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); + // [/MotorConfig] } @Override diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx index ad78b7bc..41fa515c 100644 --- a/src/content/docs/stage1/kitbot-drivetrain.mdx +++ b/src/content/docs/stage1/kitbot-drivetrain.mdx @@ -8,9 +8,9 @@ import { Tabs, TabItem } from '@astrojs/starlight/components'; # Drivetrain The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows -the robot to move similar to a tank by driving the left and right sides at different speeds. For this stage the four drivetrain -motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. "Becasue the motion of the robot is dependent -on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." <- SUSPECT SENTANCE IMPROVE PLS +the robot to move similar to a tank by driving the left and right sides at different speeds. "Becasue the motion of the robot is dependent +on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." < SUSPECT SENTANCE IMPROVE PLS +For this stage the four drivetrain motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. # Motor Controllers @@ -48,3 +48,27 @@ in the constructor so the code can comunicate with the proper controller. For th +Motor Controllers have many settings that can be changed to ensure the motors are driven correctly < BAD +Vendors provide software like REV Client and Pheonix Tuner X to run and configure their devices from a computer; +however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. +This is especially useful when a motor controler needs to be swaped since the new motor controller may have configurations +that need to be removed and the proper configurations need to be added. Under time pressure it can be easy to forget all +of the configurations that need to be added and their proper values. + +For this section only the motor controller's invert setting will be configured. This setting controls what direction +the motor spins when the motor control is given a command with a positive sign. + +Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side +move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This +tells the Follower to listen to the commands given to the Leader and is why we gave one motor the name Leader and the other Follower. + + + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + \ No newline at end of file From 643d5f0469078341f70975915ed52199afea0d8a Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 10:38:16 -0500 Subject: [PATCH 07/25] reorg --- src/content/docs/stage1/stage1-overview.mdx | 6 ------ 1 file changed, 6 deletions(-) delete mode 100644 src/content/docs/stage1/stage1-overview.mdx diff --git a/src/content/docs/stage1/stage1-overview.mdx b/src/content/docs/stage1/stage1-overview.mdx deleted file mode 100644 index a629083b..00000000 --- a/src/content/docs/stage1/stage1-overview.mdx +++ /dev/null @@ -1,6 +0,0 @@ ---- -title: Stage 1 Overview -description: An intro to the 2026 kitbot and the topics covered in this stage -next: stage1/kitbot-drivetrain ---- - From f9035cc7042af4b835a2460451f2204abc0e51e7 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 10:41:26 -0500 Subject: [PATCH 08/25] reorg part 2 --- src/content/docs/stage1/kitbot-drivetrain.mdx | 74 ------------------- 1 file changed, 74 deletions(-) delete mode 100644 src/content/docs/stage1/kitbot-drivetrain.mdx diff --git a/src/content/docs/stage1/kitbot-drivetrain.mdx b/src/content/docs/stage1/kitbot-drivetrain.mdx deleted file mode 100644 index 41fa515c..00000000 --- a/src/content/docs/stage1/kitbot-drivetrain.mdx +++ /dev/null @@ -1,74 +0,0 @@ ---- -title: Kitbot Drivetrain -description: Programing the kitbot drivetrain ---- - -import { Tabs, TabItem } from '@astrojs/starlight/components'; - -# Drivetrain - -The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows -the robot to move similar to a tank by driving the left and right sides at different speeds. "Becasue the motion of the robot is dependent -on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." < SUSPECT SENTANCE IMPROVE PLS -For this stage the four drivetrain motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. - - -# Motor Controllers - -The core of frc programing is telling motors what to do by giving commands to their motor controllers. -Vendors provide classes that can be used to both control and get sensor data from their motor controllers. -While each individual type of motor controller has its own class, motor controllers from the same vendor are -largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. - -When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given -in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: -- LeftLeader: CAN Bus 0, CAN ID 0 -- LeftFollower: CAN Bus 0, CAN ID 1 -- RightLeader: CAN Bus 0, CAN ID 2 -- Right Follower: CAN Bus 0, CAN ID 3 - - - - The spark max constructor takes the form of - ```java - SparkMax(int busId, int deviceId, MotorType type) - ``` - Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as - MotorType.Brushless for motors like a NEO and MotorType.brushed for motors like a CIM. This results in - the motor construction looking like this. - - ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#DriveMotors - ``` - - - ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors - ``` - For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on. - This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. - - - -Motor Controllers have many settings that can be changed to ensure the motors are driven correctly < BAD -Vendors provide software like REV Client and Pheonix Tuner X to run and configure their devices from a computer; -however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. -This is especially useful when a motor controler needs to be swaped since the new motor controller may have configurations -that need to be removed and the proper configurations need to be added. Under time pressure it can be easy to forget all -of the configurations that need to be added and their proper values. - -For this section only the motor controller's invert setting will be configured. This setting controls what direction -the motor spins when the motor control is given a command with a positive sign. - -Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side -move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This -tells the Follower to listen to the commands given to the Leader and is why we gave one motor the name Leader and the other Follower. - - - - ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#MotorConfig - ``` - - - ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#MotorConfig - ``` - - \ No newline at end of file From cd29d7a4af82e91eb9460c73617bf63a83f510ed Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 10:47:36 -0500 Subject: [PATCH 09/25] reorg part 3 --- .../stage1/stage1a/kitbot-drivetrain | 74 +++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain new file mode 100644 index 00000000..41fa515c --- /dev/null +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain @@ -0,0 +1,74 @@ +--- +title: Kitbot Drivetrain +description: Programing the kitbot drivetrain +--- + +import { Tabs, TabItem } from '@astrojs/starlight/components'; + +# Drivetrain + +The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows +the robot to move similar to a tank by driving the left and right sides at different speeds. "Becasue the motion of the robot is dependent +on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." < SUSPECT SENTANCE IMPROVE PLS +For this stage the four drivetrain motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. + + +# Motor Controllers + +The core of frc programing is telling motors what to do by giving commands to their motor controllers. +Vendors provide classes that can be used to both control and get sensor data from their motor controllers. +While each individual type of motor controller has its own class, motor controllers from the same vendor are +largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. + +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given +in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +- LeftLeader: CAN Bus 0, CAN ID 0 +- LeftFollower: CAN Bus 0, CAN ID 1 +- RightLeader: CAN Bus 0, CAN ID 2 +- Right Follower: CAN Bus 0, CAN ID 3 + + + + The spark max constructor takes the form of + ```java + SparkMax(int busId, int deviceId, MotorType type) + ``` + Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as + MotorType.Brushless for motors like a NEO and MotorType.brushed for motors like a CIM. This results in + the motor construction looking like this. + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors + ``` + For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on. + This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. + + + +Motor Controllers have many settings that can be changed to ensure the motors are driven correctly < BAD +Vendors provide software like REV Client and Pheonix Tuner X to run and configure their devices from a computer; +however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. +This is especially useful when a motor controler needs to be swaped since the new motor controller may have configurations +that need to be removed and the proper configurations need to be added. Under time pressure it can be easy to forget all +of the configurations that need to be added and their proper values. + +For this section only the motor controller's invert setting will be configured. This setting controls what direction +the motor spins when the motor control is given a command with a positive sign. + +Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side +move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This +tells the Follower to listen to the commands given to the Leader and is why we gave one motor the name Leader and the other Follower. + + + + ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + + ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + \ No newline at end of file From 13caf1472a8250d726b2f6925054f49668f9d027 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 12:29:37 -0500 Subject: [PATCH 10/25] improve writing --- .../ctre/src/main/java/first/robot/Robot.java | 19 ++- .../rev/src/main/java/first/robot/Robot.java | 20 ++- src/config/sidebarConfig.ts | 4 + .../stage1/stage1a/kitbot-drivetrain | 74 ---------- .../stage1/stage1a/kitbot-drivetrain.mdx | 136 ++++++++++++++++++ .../stage1/stage1a/stage-overview.mdx | 2 +- 6 files changed, 171 insertions(+), 84 deletions(-) delete mode 100644 src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain create mode 100644 src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index 72aa7100..a3002cac 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -27,15 +27,17 @@ */ public class Robot extends OpModeRobot { - // [DriveMotors] + // [DriveMotorsLeft] private final int leftLeaderID = 0; public TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); + // [/DriveMotorsLeft] + // [DriveMotorsRight] private final int rightLeaderID = 2; public TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); - // [/DriveMotors] + // [/DriveMotorsRight] public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); @@ -55,16 +57,25 @@ public class Robot extends OpModeRobot { * initialization code. */ public Robot() { - // [MotorConfig] + // [MotorConfigCreationLeft] var leftConfig = new TalonFXConfiguration(); + // [/MotorConfigCreationLeft] + // [MotorConfigSetLeft] leftConfig.MotorOutput.withInverted(InvertedValue.Clockwise_Positive); + // [/MotorConfigSetLeft] + // [MotorConfigLeft] leftLeader.getConfigurator().apply(leftConfig); + leftFollower.getConfigurator().apply(leftConfig); + + leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); + // [/MotorConfigLeft] + // [MotorConfig] var rightConfig = new TalonFXConfiguration(); rightConfig.MotorOutput.withInverted(InvertedValue.CounterClockwise_Positive); rightLeader.getConfigurator().apply(rightConfig); + rightFollower.getConfigurator().apply(leftConfig); - leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); // [/MotorConfig] } diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index a0e0069c..96514e2e 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -19,12 +19,14 @@ public class Robot extends OpModeRobot { - // [DriveMotors] + // [DriveMotorsLeft] private SparkMax leftLeader = new SparkMax(0, 0, MotorType.kBrushless); private SparkMax leftFollower = new SparkMax(0, 1, MotorType.kBrushless); + // [/DriveMotorsLeft] + // [DriveMotorsRight] private SparkMax rightLeader = new SparkMax(0, 2, MotorType.kBrushless); private SparkMax rightFollower = new SparkMax(0, 3, MotorType.kBrushless); - // [/DriveMotors] + // [/DriveMotorsRight] private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); @@ -40,16 +42,24 @@ public class Robot extends OpModeRobot { new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); public Robot() { - // [MotorConfig] - var leftConfig = new SparkMaxConfig().inverted(true); + // [MotorConfigCreationLeft] + var leftConfig = new SparkMaxConfig(); + // [/MotorConfigCreationLeft] + // [MotorConfigSetLeft] + leftConfig.inverted(true); + // [/MotorConfigSetLeft] + // [MotorConfigLeft] leftLeader.configure( leftConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); leftFollower.configure( leftConfig.follow(leftLeader), ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); + // [/MotorConfigLeft] - var rightConfig = new SparkMaxConfig().inverted(false); + // [MotorConfig] + var rightConfig = new SparkMaxConfig(); + rightConfig.inverted(false); rightLeader.configure( rightConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); rightFollower.configure( diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts index bc56f1ed..e46dc166 100644 --- a/src/config/sidebarConfig.ts +++ b/src/config/sidebarConfig.ts @@ -110,6 +110,10 @@ export const sidebarSections: Record = { label: 'Stage 1A Introduction', slug: 'learning-course/stage1/stage1a/stage-overview', }, + { + label: 'Kitbot Drivetrain', + slug:'learning-course/stage1/stage1a/kitbot-drivetrain' + }, // { // label: 'TBD', // slug: 'stage-1a-commands/the-command-body', diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain deleted file mode 100644 index 41fa515c..00000000 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain +++ /dev/null @@ -1,74 +0,0 @@ ---- -title: Kitbot Drivetrain -description: Programing the kitbot drivetrain ---- - -import { Tabs, TabItem } from '@astrojs/starlight/components'; - -# Drivetrain - -The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows -the robot to move similar to a tank by driving the left and right sides at different speeds. "Becasue the motion of the robot is dependent -on the diference in the velocity of the left and the right side, we can call this a differential drivetrain." < SUSPECT SENTANCE IMPROVE PLS -For this stage the four drivetrain motors will be refered to as LeftLeader, LeftFollower, RightLeader, RightFollower. - - -# Motor Controllers - -The core of frc programing is telling motors what to do by giving commands to their motor controllers. -Vendors provide classes that can be used to both control and get sensor data from their motor controllers. -While each individual type of motor controller has its own class, motor controllers from the same vendor are -largely the same so this stage will only use the SparkMax for REV code and the TalonFX for CTRE code. - -When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given -in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: -- LeftLeader: CAN Bus 0, CAN ID 0 -- LeftFollower: CAN Bus 0, CAN ID 1 -- RightLeader: CAN Bus 0, CAN ID 2 -- Right Follower: CAN Bus 0, CAN ID 3 - - - - The spark max constructor takes the form of - ```java - SparkMax(int busId, int deviceId, MotorType type) - ``` - Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as - MotorType.Brushless for motors like a NEO and MotorType.brushed for motors like a CIM. This results in - the motor construction looking like this. - - ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#DriveMotors - ``` - - - ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#DriveMotors - ``` - For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on. - This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. - - - -Motor Controllers have many settings that can be changed to ensure the motors are driven correctly < BAD -Vendors provide software like REV Client and Pheonix Tuner X to run and configure their devices from a computer; -however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. -This is especially useful when a motor controler needs to be swaped since the new motor controller may have configurations -that need to be removed and the proper configurations need to be added. Under time pressure it can be easy to forget all -of the configurations that need to be added and their proper values. - -For this section only the motor controller's invert setting will be configured. This setting controls what direction -the motor spins when the motor control is given a command with a positive sign. - -Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side -move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This -tells the Follower to listen to the commands given to the Leader and is why we gave one motor the name Leader and the other Follower. - - - - ```java stage1/rev/solution/src/main/java/first/robot/Robot.java#MotorConfig - ``` - - - ```java stage1/ctre/solution/src/main/java/first/robot/Robot.java#MotorConfig - ``` - - \ No newline at end of file diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx new file mode 100644 index 00000000..fd3d3cf7 --- /dev/null +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -0,0 +1,136 @@ +--- +title: Kitbot Drivetrain +description: Programing the kitbot drivetrain +prev: stage-overview +next: false +--- + +import { Tabs, TabItem } from '@astrojs/starlight/components'; + +# Drivetrain + +The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows +the robot to move similar to a tank by driving the left and right sides at different speeds. +For this stage the four drivetrain motors will be refered to as `leftLeader`, `leftFollower`, `rightLeader`, `rightFollower`. + +# Motor Controllers +The core of frc programing is controlling motors. This can be done by giving commands to their motor controllers. +Vendors provide classes that can be used to both control and get sensor data from their motor controllers. +While each individual type of motor controller has its own class, motor controllers from the same vendor are +mostly interacted with in the same way so this stage will only use the `SparkMax` for REV code and the `TalonFX` for CTRE code. + +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given +in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +- `leftLeader`: CAN Bus 0, CAN ID 0 +- `leftFollower`: CAN Bus 0, CAN ID 1 +- `rightLeader`: CAN Bus 0, CAN ID 2 +- `rightFollower`: CAN Bus 0, CAN ID 3 + +This is how the motor controller objects for the left motors will look. + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsLeft + ``` + For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on to tell the follower what motor controller to follow. + This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsLeft + ``` + Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. + + + +Now try creating the right motor controllers on your own. +
+ Solution + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsRight + ``` + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsRight + ``` + + +
+ +# Configuration +Motor Controllers have many settings that can be changed. +Vendors provide software like REV Hardware Client and Pheonix Tuner X to run and configure their devices from a computer; +however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. +This is especially useful because it can be easy to forget all of the configurations that need to be added and their proper values. + +For this section only the motor controller's invert setting will be configured. This setting controls what direction +the motor spins when the motor control is given a command with a positive speed. + +Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side +move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This +tells the Follower to listen to the commands given to the Leader and is why one of the motors is named Leader and the other Follower. + +Motor Controllers are configured by first creating a motor controller configuration object. +This object stores the configuration so it can be changed and shared across different Motor Controllers. + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigCreationLeft + ``` + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigCreationLeft + ``` + + + +Next, settings can be changed from their default by calling various functions on the configuration object with their new values. +For the left motors, the invert setting will be true for REV code and Clockwise_Positive for CTRE code. +For the right motors the value will be the opposite. + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigSetLeft + ``` + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigSetLeft + ``` + + + +Finally, the configuration object gets given to the motor controller object. +It's important to remember that settings only get changed when the configuration gets given to the motor controller. + + + + For CTRE Motor Controllers, becoming a follower is a `ControlRequest` instead of a configuration. + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigLeft + ``` + + + For REV Motor Controllers, becoming a follower is a configuration so the follower setting gets changed before being applied to the follower motor using the leader motor as the function parameter. + This must happen after the configuration is applied to the Leader so the motor controller doesn't want to follow itself. + `ResetMode.kResetSafeParameters` gets to tell the motor controller to reset all unchanged configurations to their default value. + This prevents old configurations from being left on the controller. + `PersistMode.kPersistParameters` is used so the configuration gets saved on the motor control so it persists even after power is removed. + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigLeft + ``` + + + +Now try configuring the right motor controllers on your own. Remember that some of the configurations may be different. +
+ Solution + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfig + ``` + + +
\ No newline at end of file diff --git a/src/content/docs/learning-course/stage1/stage1a/stage-overview.mdx b/src/content/docs/learning-course/stage1/stage1a/stage-overview.mdx index 80c5a487..5c41d044 100644 --- a/src/content/docs/learning-course/stage1/stage1a/stage-overview.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/stage-overview.mdx @@ -2,7 +2,7 @@ title: Stage 1A Overview description: An overview of Stage 1A prev: ../stage-overview -next: false +next: kitbot-drivetrain --- import YouTube from '../../../../../components/YouTube.astro'; From 416682c4c0a72f8f42d7f2cdd6cf20462a58f8e0 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 14:59:21 -0500 Subject: [PATCH 11/25] apply suggestions --- .../stage1/stage1a/kitbot-drivetrain.mdx | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index fd3d3cf7..57352071 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -11,16 +11,16 @@ import { Tabs, TabItem } from '@astrojs/starlight/components'; The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows the robot to move similar to a tank by driving the left and right sides at different speeds. -For this stage the four drivetrain motors will be refered to as `leftLeader`, `leftFollower`, `rightLeader`, `rightFollower`. +For this stage, the four drivetrain motors will be referred to as `leftLeader`, `leftFollower`, `rightLeader`, `rightFollower`. # Motor Controllers The core of frc programing is controlling motors. This can be done by giving commands to their motor controllers. -Vendors provide classes that can be used to both control and get sensor data from their motor controllers. +Vendors, such as REV or CTRE, provide classes that can be used to both control and get sensor data from their motor controllers. While each individual type of motor controller has its own class, motor controllers from the same vendor are mostly interacted with in the same way so this stage will only use the `SparkMax` for REV code and the `TalonFX` for CTRE code. When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given -in the constructor so the code can comunicate with the proper controller. For this exercise the motor controllers will have the Ids: +in the constructor so the code can communicate with the proper controller. For this exercise the motor controllers will have the IDs: - `leftLeader`: CAN Bus 0, CAN ID 0 - `leftFollower`: CAN Bus 0, CAN ID 1 - `rightLeader`: CAN Bus 0, CAN ID 2 @@ -32,13 +32,15 @@ This is how the motor controller objects for the left motors will look. ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` - For the CTRE code the CAN ID of the leader motors are stored as a variable since they will be used latter on to tell the follower what motor controller to follow. +For the CTRE code, the CAN ID of the leader motors are stored as a variable since they will be used later on to tell the follower what motor controller to follow. This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` - Since the Spark Max can control both brushed and brushless motors it's neccesary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. + Since the Spark Max can control both brushed and brushless motors it's necessary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. + +When writing code for a real robot, make sure your motor type is set correctly! Setting a NEO to `MotorType.kBrushed` may cause unintended or unwanted effects. @@ -56,19 +58,17 @@ Now try creating the right motor controllers on your own. - -# Configuration +Motor Controllers have many settings that can be changed such as IDs, motor types, and limits. +Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. Motor Controllers have many settings that can be changed. -Vendors provide software like REV Hardware Client and Pheonix Tuner X to run and configure their devices from a computer; -however, it is recomended to configure devices through code to ensure that all motor controllers are properly configured. +Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. +However, it is recommended to configure devices through code to ensure that all motor controllers are properly configured. This is especially useful because it can be easy to forget all of the configurations that need to be added and their proper values. For this section only the motor controller's invert setting will be configured. This setting controls what direction -the motor spins when the motor control is given a command with a positive speed. - Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This -tells the Follower to listen to the commands given to the Leader and is why one of the motors is named Leader and the other Follower. +This is why one motor is named Leader and the other is Follower. The code tells the Follower to listen to the commands given to the Leader. Motor Controllers are configured by first creating a motor controller configuration object. This object stores the configuration so it can be changed and shared across different Motor Controllers. @@ -85,7 +85,7 @@ This object stores the configuration so it can be changed and shared across diff Next, settings can be changed from their default by calling various functions on the configuration object with their new values. -For the left motors, the invert setting will be true for REV code and Clockwise_Positive for CTRE code. +For the left motors, the invert setting will be `true` for REV code and `Clockwise_Positive` for CTRE code. For the right motors the value will be the opposite. From c424bb3926bc00e634bd78bab8221484c99262c0 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Thu, 30 Jul 2026 15:37:46 -0500 Subject: [PATCH 12/25] formating --- src/config/sidebarConfig.ts | 2 +- .../stage1/stage1a/kitbot-drivetrain.mdx | 96 +++++++++++++------ 2 files changed, 69 insertions(+), 29 deletions(-) diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts index e46dc166..d4bf8b5b 100644 --- a/src/config/sidebarConfig.ts +++ b/src/config/sidebarConfig.ts @@ -112,7 +112,7 @@ export const sidebarSections: Record = { }, { label: 'Kitbot Drivetrain', - slug:'learning-course/stage1/stage1a/kitbot-drivetrain' + slug: 'learning-course/stage1/stage1a/kitbot-drivetrain', }, // { // label: 'TBD', diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 57352071..c6520a8d 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -1,6 +1,6 @@ --- title: Kitbot Drivetrain -description: Programing the kitbot drivetrain +description: Programming the kitbot drivetrain prev: stage-overview next: false --- @@ -9,18 +9,23 @@ import { Tabs, TabItem } from '@astrojs/starlight/components'; # Drivetrain -The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows +The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. +This allows the robot to move similar to a tank by driving the left and right sides at different speeds. For this stage, the four drivetrain motors will be referred to as `leftLeader`, `leftFollower`, `rightLeader`, `rightFollower`. # Motor Controllers -The core of frc programing is controlling motors. This can be done by giving commands to their motor controllers. + +The core of frc programming is controlling motors. +This can be done by giving commands to their motor controllers. Vendors, such as REV or CTRE, provide classes that can be used to both control and get sensor data from their motor controllers. While each individual type of motor controller has its own class, motor controllers from the same vendor are mostly interacted with in the same way so this stage will only use the `SparkMax` for REV code and the `TalonFX` for CTRE code. When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given -in the constructor so the code can communicate with the proper controller. For this exercise the motor controllers will have the IDs: +in the constructor so the code can communicate with the proper controller. +For this exercise the motor controllers will have the IDs: + - `leftLeader`: CAN Bus 0, CAN ID 0 - `leftFollower`: CAN Bus 0, CAN ID 1 - `rightLeader`: CAN Bus 0, CAN ID 2 @@ -33,55 +38,74 @@ This is how the motor controller objects for the left motors will look. ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` For the CTRE code, the CAN ID of the leader motors are stored as a variable since they will be used later on to tell the follower what motor controller to follow. - This helps prevent errors from occuring by ensuring that there is a single source of truth for the corrrect CAN ID. + This helps prevent errors from occurring by ensuring that there is a single source of truth for the correct CAN ID. ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` Since the Spark Max can control both brushed and brushless motors it's necessary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. -When writing code for a real robot, make sure your motor type is set correctly! Setting a NEO to `MotorType.kBrushed` may cause unintended or unwanted effects. - +When writing code for a real robot, make sure your motor type is set correctly! Setting a NEO to `MotorType.kBrushed` may cause unintended or unwanted effects. + + + Now try creating the right motor controllers on your own. +
Solution - + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsRight ``` + - + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsRight ``` + +
-Motor Controllers have many settings that can be changed such as IDs, motor types, and limits. -Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. -Motor Controllers have many settings that can be changed. -Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. -However, it is recommended to configure devices through code to ensure that all motor controllers are properly configured. -This is especially useful because it can be easy to forget all of the configurations that need to be added and their proper values. - -For this section only the motor controller's invert setting will be configured. This setting controls what direction -Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side -move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. This -This is why one motor is named Leader and the other is Follower. The code tells the Follower to listen to the commands given to the Leader. +Motor Controllers have many settings that can be changed such as IDs, motor +types, and limits. Vendors provide software, such as REV's REV Hardware Client 2 +and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. +Motor Controllers have many settings that can be changed. Vendors provide +software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run +and configure their devices from a computer. However, it is recommended to +configure devices through code to ensure that all motor controllers are properly +configured. This is especially useful because it can be easy to forget all of +the configurations that need to be added and their proper values. + +For this section only the motor controller's invert setting will be configured. +This setting controls what direction +Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side +move in sync with eachother. +This can be accomplished by telling one of the motor controllers to follow the other. +This is why one motor is named Leader and the other is Follower. +The code tells the Follower to listen to the commands given to the Leader. Motor Controllers are configured by first creating a motor controller configuration object. This object stores the configuration so it can be changed and shared across different Motor Controllers. - + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigCreationLeft ``` + - + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigCreationLeft ``` + + Next, settings can be changed from their default by calling various functions on the configuration object with their new values. @@ -89,14 +113,19 @@ For the left motors, the invert setting will be `true` for REV code and `Clockwi For the right motors the value will be the opposite. - + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigSetLeft ``` + - + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigSetLeft ``` + + Finally, the configuration object gets given to the motor controller object. @@ -108,6 +137,7 @@ It's important to remember that settings only get changed when the configuration ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfigLeft ``` + For REV Motor Controllers, becoming a follower is a configuration so the follower setting gets changed before being applied to the follower motor using the leader motor as the function parameter. @@ -115,22 +145,32 @@ It's important to remember that settings only get changed when the configuration `ResetMode.kResetSafeParameters` gets to tell the motor controller to reset all unchanged configurations to their default value. This prevents old configurations from being left on the controller. `PersistMode.kPersistParameters` is used so the configuration gets saved on the motor control so it persists even after power is removed. + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfigLeft ``` + + -Now try configuring the right motor controllers on your own. Remember that some of the configurations may be different. +Now try configuring the right motor controllers on your own. +Remember that some of the configurations may be different. +
Solution - + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#MotorConfig ``` + - + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#MotorConfig ``` + -
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This allows the robot to move similar to a tank by driving the left and right sides at different speeds. @@ -16,14 +19,18 @@ For this stage, the four drivetrain motors will be referred to as `leftLeader`, # Motor Controllers -The core of frc programming is controlling motors. -This can be done by giving commands to their motor controllers. +Motors can not be controlled directly. +Instead SystemCore talks to a motor controller and the motor controller then drives the motors. Vendors, such as REV or CTRE, provide classes that can be used to both control and get sensor data from their motor controllers. While each individual type of motor controller has its own class, motor controllers from the same vendor are mostly interacted with in the same way so this stage will only use the `SparkMax` for REV code and the `TalonFX` for CTRE code. -When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given -in the constructor so the code can communicate with the proper controller. +When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given. +CAN Bus refers to which of the 5 SystemCore CAN ports, or which CANivore, the device is plugged into. +CAN ID is an integer that each CAN device is configured to have. +All devices on a given CAN Bus must have a unique ID. +Using the combination of CAN Bus and CAN ID SystemCore can give commands to the correct motor controller. + For this exercise the motor controllers will have the IDs: - `leftLeader`: CAN Bus 0, CAN ID 0 @@ -37,15 +44,19 @@ This is how the motor controller objects for the left motors will look. ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` + For the CTRE code, the CAN ID of the leader motors are stored as a variable since they will be used later on to tell the follower what motor controller to follow. - This helps prevent errors from occurring by ensuring that there is a single source of truth for the correct CAN ID. +This helps prevent errors from occurring by ensuring that there is a single source of truth for the correct CAN ID. +Additionally, CTRE uses a CANBus object to store the CANBus instead of just an integer. + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` - Since the Spark Max can control both brushed and brushless motors it's necessary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. -When writing code for a real robot, make sure your motor type is set correctly! Setting a NEO to `MotorType.kBrushed` may cause unintended or unwanted effects. +Since the Spark Max can control both brushed and brushless motors it's necessary to specify the type as `MotorType.kBrushless` for motors like a NEO and `MotorType.kBrushed` for motors like a CIM. + +When writing code for a real robot, make sure your motor type is set correctly! Setting a NEO to `MotorType.kBrushed` will break the NEO. From 2880d96fada0d532d62e908c58f47072a6d4516d Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Fri, 31 Jul 2026 16:19:17 -0500 Subject: [PATCH 14/25] clear up things + danger message --- .../stage1/stage1a/kitbot-drivetrain.mdx | 24 +++++++++++++++++-- 1 file changed, 22 insertions(+), 2 deletions(-) diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 45361426..bd6dcf36 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -10,7 +10,12 @@ import ContentImage from '@components/ContentImage.astro'; # Drivetrain - + The kitbot uses a 4 motor tank drive meaning the left and right sides are driven independently by 2 motors each. This allows @@ -21,6 +26,7 @@ For this stage, the four drivetrain motors will be referred to as `leftLeader`, Motors can not be controlled directly. Instead SystemCore talks to a motor controller and the motor controller then drives the motors. +Motor controllers can also provide sensor data from the motor such as its velocity or temperature. Vendors, such as REV or CTRE, provide classes that can be used to both control and get sensor data from their motor controllers. While each individual type of motor controller has its own class, motor controllers from the same vendor are mostly interacted with in the same way so this stage will only use the `SparkMax` for REV code and the `TalonFX` for CTRE code. @@ -38,6 +44,7 @@ For this exercise the motor controllers will have the IDs: - `rightLeader`: CAN Bus 0, CAN ID 2 - `rightFollower`: CAN Bus 0, CAN ID 3 +The motor controller objects should be created inside the `Robot.java` at the top of the class. This is how the motor controller objects for the left motors will look. @@ -92,6 +99,16 @@ configure devices through code to ensure that all motor controllers are properly configured. This is especially useful because it can be easy to forget all of the configurations that need to be added and their proper values. + + For this section only the motor controller's invert setting will be configured. This setting controls what direction Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side @@ -100,6 +117,7 @@ This can be accomplished by telling one of the motor controllers to follow the o This is why one motor is named Leader and the other is Follower. The code tells the Follower to listen to the commands given to the Leader. +The motor controller configuration will be done inside of the constructor for the robot class Motor Controllers are configured by first creating a motor controller configuration object. This object stores the configuration so it can be changed and shared across different Motor Controllers. @@ -121,7 +139,9 @@ This object stores the configuration so it can be changed and shared across diff Next, settings can be changed from their default by calling various functions on the configuration object with their new values. For the left motors, the invert setting will be `true` for REV code and `Clockwise_Positive` for CTRE code. -For the right motors the value will be the opposite. +This will cause the motors to spin in a direction that would drive the robot forward when a positive input is given. +Since the motors on the right side of the drivetrain are facing the opposite direction they would cause the wheels try and drive the robot backwards when given a positive input if they were configured the same way. +Instead they should be configured with an invert setting of `false` or `Counter_Clockwise_Positive` so they also drive the robot forward when given a positive input. From c7fc87c3cc7aa85df1aa3a28ac07193fb3f86ef7 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sat, 1 Aug 2026 13:15:07 -0500 Subject: [PATCH 15/25] DifferentialDrive creation --- .../ctre/src/main/java/first/robot/Robot.java | 2 + .../stage1/stage1a/kitbot-drivetrain.mdx | 42 +++++++++++++++++++ 2 files changed, 44 insertions(+) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index a3002cac..f20877a0 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -44,8 +44,10 @@ public class Robot extends OpModeRobot { private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + // [DrivetrainInstance] public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + // [/DrivetrainInstance] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); private SingleFlywheelSim intakeLauncherSim = diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index bd6dcf36..e5ee451d 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -205,3 +205,45 @@ Remember that some of the configurations may be different. + +#Arcade Drive + +ADD IMAGE OF LABELED JOYSTICK FOR ARCADE DRIVE PLS + +There are several ways to control a tank drive, but this stage will be using arcade drive. +Arcade drive uses a single joystick to control the direction of travel and rotation. +The y-axis of the joystick is used to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. +WPIlib provides a class to convert joystick inputs into commands for the motors to follow called `DifferentialDrive`. + +An instance of `DifferentialDrive` should be created under where the motor controllers were declared. + +
+ Solution + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + +
+ +Notice how the `DifferentialDrive` constructor takes the form `DifferentialDrive(DoubleConsumer leftMotor, DoubleConsumer rightMotor)`. +When created the `DifferentialDrive` is asking for a `DoubleConsumer` for the left and right motors. +A `Consumer` is simply a function that takes something as an input so a `DoubleConsumer` is a function that takes a double as an input when called. +When given a joystick input, the `DifferentialDrive` instance will call the functions provided to it automatically commanding the motors to move to produce the desired motion. +The `motorController:setThrottle` syntax is used to proved the `DifferentialDrive` instance with the motor controllers `setThrottle()` function. +This function commands the motor to run a percentage of their maximum speed, also known as duty cycle, with an input from -1.0 to 1.0. +Therefore, when provided with input from the joysticks, the `DifferentialDrive` instance will call the provided motors controller's `setThrottle()` functions with the correct duty cycle to produce the commanded motion. + + \ No newline at end of file From 4d2fb27dd61c0376d858a03159610f4305cf868a Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sat, 1 Aug 2026 13:15:07 -0500 Subject: [PATCH 16/25] grammerFix --- .../ctre/src/main/java/first/robot/Robot.java | 2 + .../stage1/stage1a/kitbot-drivetrain.mdx | 42 +++++++++++++++++++ 2 files changed, 44 insertions(+) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index a3002cac..f20877a0 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -44,8 +44,10 @@ public class Robot extends OpModeRobot { private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + // [DrivetrainInstance] public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + // [/DrivetrainInstance] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); private SingleFlywheelSim intakeLauncherSim = diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index bd6dcf36..e5ee451d 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -205,3 +205,45 @@ Remember that some of the configurations may be different. + +#Arcade Drive + +ADD IMAGE OF LABELED JOYSTICK FOR ARCADE DRIVE PLS + +There are several ways to control a tank drive, but this stage will be using arcade drive. +Arcade drive uses a single joystick to control the direction of travel and rotation. +The y-axis of the joystick is used to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. +WPIlib provides a class to convert joystick inputs into commands for the motors to follow called `DifferentialDrive`. + +An instance of `DifferentialDrive` should be created under where the motor controllers were declared. + +
+ Solution + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + +
+ +Notice how the `DifferentialDrive` constructor takes the form `DifferentialDrive(DoubleConsumer leftMotor, DoubleConsumer rightMotor)`. +When created the `DifferentialDrive` is asking for a `DoubleConsumer` for the left and right motors. +A `Consumer` is simply a function that takes something as an input so a `DoubleConsumer` is a function that takes a double as an input when called. +When given a joystick input, the `DifferentialDrive` instance will call the functions provided to it automatically commanding the motors to move to produce the desired motion. +The `motorController:setThrottle` syntax is used to proved the `DifferentialDrive` instance with the motor controllers `setThrottle()` function. +This function commands the motor to run a percentage of their maximum speed, also known as duty cycle, with an input from -1.0 to 1.0. +Therefore, when provided with input from the joysticks, the `DifferentialDrive` instance will call the provided motors controller's `setThrottle()` functions with the correct duty cycle to produce the commanded motion. + + \ No newline at end of file From 4cd30c4a4224ce270ec6dfdfd4ad2c0e8eb09265 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sat, 1 Aug 2026 13:22:59 -0500 Subject: [PATCH 17/25] tryingToCommitChanges --- .../rev/src/main/java/first/robot/Robot.java | 2 ++ .../stage1/stage1a/kitbot-drivetrain.mdx | 19 ++++++++----------- 2 files changed, 10 insertions(+), 11 deletions(-) diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index 96514e2e..940e2b34 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -38,8 +38,10 @@ public class Robot extends OpModeRobot { new SingleFlywheelSim(intakeLauncher, "IntakeLauncher"); private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "Feeder"); + // [DrivetrainInstance] public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + // [/DrivetrainInstance] public Robot() { // [MotorConfigCreationLeft] diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index e5ee451d..d8843472 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -206,19 +206,17 @@ Remember that some of the configurations may be different. -#Arcade Drive +# Arcade Drive ADD IMAGE OF LABELED JOYSTICK FOR ARCADE DRIVE PLS There are several ways to control a tank drive, but this stage will be using arcade drive. -Arcade drive uses a single joystick to control the direction of travel and rotation. +Arcade drive uses a single joystick to control both the direction of travel and the rotation of the robot. The y-axis of the joystick is used to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. WPIlib provides a class to convert joystick inputs into commands for the motors to follow called `DifferentialDrive`. An instance of `DifferentialDrive` should be created under where the motor controllers were declared. -
- Solution @@ -234,16 +232,15 @@ An instance of `DifferentialDrive` should be created under where the motor contr -
- Notice how the `DifferentialDrive` constructor takes the form `DifferentialDrive(DoubleConsumer leftMotor, DoubleConsumer rightMotor)`. -When created the `DifferentialDrive` is asking for a `DoubleConsumer` for the left and right motors. +When created the `DifferentialDrive` is asking for a `DoubleConsumer` that it can use to drive the left and right motors. A `Consumer` is simply a function that takes something as an input so a `DoubleConsumer` is a function that takes a double as an input when called. -When given a joystick input, the `DifferentialDrive` instance will call the functions provided to it automatically commanding the motors to move to produce the desired motion. The `motorController:setThrottle` syntax is used to proved the `DifferentialDrive` instance with the motor controllers `setThrottle()` function. This function commands the motor to run a percentage of their maximum speed, also known as duty cycle, with an input from -1.0 to 1.0. -Therefore, when provided with input from the joysticks, the `DifferentialDrive` instance will call the provided motors controller's `setThrottle()` functions with the correct duty cycle to produce the commanded motion. +This allows the `DifferentialDrive` instance to call the provided motors controller's `setThrottle()` functions with the correct duty cycle when provided with input from the joysticks. \ No newline at end of file + The `DifferentialDrive` instance only needs to be provided with the Lead + motor controller's `setThrottle()` functions since the Follower motors will + automatically follow. + From 3cdcb0636c9567963cce8f394966306c4488380e Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sat, 1 Aug 2026 21:00:09 -0500 Subject: [PATCH 18/25] IMU and CheckUp --- .../ctre/src/main/java/first/robot/Robot.java | 17 ++- .../rev/src/main/java/first/robot/Robot.java | 27 ++++- .../stage1/stage1a/kitbot-drivetrain.mdx | 107 +++++++++++++++--- 3 files changed, 127 insertions(+), 24 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index f20877a0..75bbf5b4 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -18,6 +18,7 @@ import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; +// [RobotTop] /** * The methods in this class are called automatically as described in the OpModeRobot documentation. * OpMode classes anywhere in the package (or sub-packages) where this class is located are @@ -39,21 +40,26 @@ public class Robot extends OpModeRobot { private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); // [/DriveMotorsRight] - public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); - public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); - - private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); - // [DrivetrainInstance] public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); // [/DrivetrainInstance] + + // [IMU] + private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + // [/IMU] + // [/RobotTop] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); + + public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); + public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); + private SingleFlywheelSim intakeLauncherSim = new SingleFlywheelSim(intakeLauncher, "intakeLauncher"); private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "feeder"); + // [AllConfigs] /** * This function is run when the robot is first started up and should be used for any * initialization code. @@ -81,6 +87,7 @@ public Robot() { rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); // [/MotorConfig] } + // [/AllConfigs] @Override public void simulationPeriodic() { diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index 940e2b34..6bd7175f 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -17,6 +17,14 @@ import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; +// [RobotTop] +/** + * The methods in this class are called automatically as described in the OpModeRobot documentation. + * OpMode classes anywhere in the package (or sub-packages) where this class is located are + * automatically registered to display in the Driver Station. If you change the name of this class + * or the package after creating this project, you must also update the Main.java file in the + * project. + */ public class Robot extends OpModeRobot { // [DriveMotorsLeft] @@ -28,9 +36,18 @@ public class Robot extends OpModeRobot { private SparkMax rightFollower = new SparkMax(0, 3, MotorType.kBrushless); // [/DriveMotorsRight] + // [DrivetrainInstance] + public final DifferentialDrive drivetrain = + new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + // [/DrivetrainInstance] + + // [IMU] private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + // [/IMU] + // [/RobotTop] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); + public SparkMax intakeLauncher = new SparkMax(0, 4, MotorType.kBrushless); public SparkMax feeder = new SparkMax(0, 5, MotorType.kBrushless); @@ -38,11 +55,12 @@ public class Robot extends OpModeRobot { new SingleFlywheelSim(intakeLauncher, "IntakeLauncher"); private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "Feeder"); - // [DrivetrainInstance] - public final DifferentialDrive drivetrain = - new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); - // [/DrivetrainInstance] + // [AllConfigs] + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ public Robot() { // [MotorConfigCreationLeft] var leftConfig = new SparkMaxConfig(); @@ -70,6 +88,7 @@ public Robot() { PersistMode.kPersistParameters); // [/MotorConfig] } + // [/AllConfigs] @Override public void simulationPeriodic() { diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index d8843472..8df4bcfc 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -1,6 +1,6 @@ --- -title: Drivetrain Motors -description: Adding motors for the kitbot drivetrain +title: Kitbot Drivetrain +description: Programming the kitbot drivetrain prev: stage-overview next: false --- @@ -90,9 +90,7 @@ Now try creating the right motor controllers on your own. Motor Controllers have many settings that can be changed such as IDs, motor -types, and limits. Vendors provide software, such as REV's REV Hardware Client 2 -and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. -Motor Controllers have many settings that can be changed. Vendors provide +types, and limits. Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run and configure their devices from a computer. However, it is recommended to configure devices through code to ensure that all motor controllers are properly @@ -217,20 +215,21 @@ WPIlib provides a class to convert joystick inputs into commands for the motors An instance of `DifferentialDrive` should be created under where the motor controllers were declared. - - + + - ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance - ``` + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` - - + + - ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance - ``` + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` - - + + + Notice how the `DifferentialDrive` constructor takes the form `DifferentialDrive(DoubleConsumer leftMotor, DoubleConsumer rightMotor)`. When created the `DifferentialDrive` is asking for a `DoubleConsumer` that it can use to drive the left and right motors. @@ -244,3 +243,81 @@ This allows the `DifferentialDrive` instance to call the provided motors control motor controller's `setThrottle()` functions since the Follower motors will automatically follow. + +# IMU + +An IMU, Inertial Measurement Unit, is a sensor that allows the robot to accurately track its 3d rotation (roll, pitch, and yaw) as it moves around the field. +While there are several vendors that sell very accurate IMUs, this stage will make use of Systemcore's built in IMU. +An instance of Systemcore's IMU should be created beneath the `differentialDrive`. + + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#IMU + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#IMU + ``` + + + + + + + +# Check Up + +By now the top of your `Robot` class in `Robot.java` should look like this: + +
+ Solution + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#RobotTop + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#RobotTop + ``` + + + + +
+ +The constructor for your `Robot` class should look like this: + +
+ Solution + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#AllConfigs + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#AllConfigs + ``` + + + + +
+ +And VS code should not be giving you any errors. + +And with that you've written all the code necessary to make a tank drive work on a real robot! +In the next section, simulation will be added so the code can be ran and tested on a computer. From 5a451606edef4e913652592aaefeb0d9558b2a99 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sun, 2 Aug 2026 20:39:04 -0500 Subject: [PATCH 19/25] Drivetrain Sim Code --- .../ctre/src/main/java/first/robot/Robot.java | 2 + .../rev/src/main/java/first/robot/Robot.java | 2 + .../stage1/stage1a/drivetrain-sim.mdx | 72 +++++++++++++++++++ .../stage1/stage1a/kitbot-drivetrain.mdx | 4 +- 4 files changed, 78 insertions(+), 2 deletions(-) create mode 100644 src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index 75bbf5b4..84953cae 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -50,7 +50,9 @@ public class Robot extends OpModeRobot { // [/IMU] // [/RobotTop] + // [DrivetrainSim] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); + // [/DrivetrainSim] public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index 6bd7175f..ce01b6af 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -46,7 +46,9 @@ public class Robot extends OpModeRobot { // [/IMU] // [/RobotTop] + // [DrivetrainSim] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); + // [/DrivetrainSim] public SparkMax intakeLauncher = new SparkMax(0, 4, MotorType.kBrushless); public SparkMax feeder = new SparkMax(0, 5, MotorType.kBrushless); diff --git a/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx new file mode 100644 index 00000000..d646f489 --- /dev/null +++ b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx @@ -0,0 +1,72 @@ +--- +title: Kitbot Drivetrain Simulation +description: Writing the code to simulate the kitbot drivetrain +prev: kitbot-drivetrain +next: false +--- + +# Simulation + +Its common to be write code without immediate access to a physical robot to test changes. +Luckily, your computer can also run robot code allowing it to be tested without a robot. +While there is some things that can be tested by simulating pure robot code, there are no physical motors to move and respond with new positions. +Instead we use simulation classes that use physics to take the desired input voltage to the motors and estimate how the physical mechanism would respond and update our motor controller instances to match. +For this stage custom classes have been provided that abstract away much of this logic. +You can find these files under the `simulation` folder if you would would like to read the implementation. +You can also read the WPIlib docs on simulation at if you would like to learn more about simulation. + +# Drivetrain Sim + +To simulate the drivetrain simply create an instance of the `DrivetrainSim` class underneath the `DifferentialDrive` instance using the left and right Leader motors as an input. +This class will read the voltage commanded to the motors and, using its physics sim, update the motor controllers with new positions. +The class will then publish the new drivetrain position so it can be viewed in AdvantageScope. + + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainSim + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainSim + ``` + + + + + +# Periodic Methods + +Robot code needs to be run in a loop so that it can continually make new commands to motor controllers based on new controller and sensor input. +To accomplish this Periodic Methods are provided in the `Robot` class and `OpMode` classes. +Periodic methods get called every 20ms by default causing any code placed inside of them to be ran 50 times per second. +There are also periodic methods for specific robot states. +For example, the `teleopPeriodic()` function will only be called when teleop mode is selected on the driverstation. + +At the moment the `DrivetrainSim` will not actually do anything because it is not being told to update periodically. +To fix this, the `DrivetrainSim`'s `periodic()` function should be called inside of the `Robot` class' `simulationPeriodic()` function. + + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance + ``` + + + + + + diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 8df4bcfc..be8c1f2e 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -2,7 +2,7 @@ title: Kitbot Drivetrain description: Programming the kitbot drivetrain prev: stage-overview -next: false +next: drivetrain-sim --- import { Tabs, TabItem } from '@astrojs/starlight/components'; @@ -319,5 +319,5 @@ The constructor for your `Robot` class should look like this: And VS code should not be giving you any errors. -And with that you've written all the code necessary to make a tank drive work on a real robot! +And with that you've written all the code necessary in a the `Robot` class for a physical robot! In the next section, simulation will be added so the code can be ran and tested on a computer. From 50e78e8c10e7eebbffc0b56b52ff6e9b7ed62836 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sun, 2 Aug 2026 21:39:39 -0500 Subject: [PATCH 20/25] fix drivetrain sim page --- .../ctre/src/main/java/first/robot/Robot.java | 7 +++++-- .../rev/src/main/java/first/robot/Robot.java | 4 +++- src/config/sidebarConfig.ts | 4 ++++ .../stage1/stage1a/drivetrain-sim.mdx | 14 ++++++++------ .../stage1/stage1a/kitbot-drivetrain.mdx | 2 +- 5 files changed, 21 insertions(+), 10 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index 84953cae..a62663a2 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -44,7 +44,7 @@ public class Robot extends OpModeRobot { public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); // [/DrivetrainInstance] - + // [IMU] private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); // [/IMU] @@ -53,7 +53,7 @@ public class Robot extends OpModeRobot { // [DrivetrainSim] private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); // [/DrivetrainSim] - + public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0)); public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0)); @@ -89,11 +89,14 @@ public Robot() { rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); // [/MotorConfig] } + // [/AllConfigs] + // [DriveSimPeriodic] @Override public void simulationPeriodic() { drivetrainSim.periodic(); + // [/DriveSimPeriodic] intakeLauncherSim.periodic(); feederSim.periodic(); } diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java index ce01b6af..76608356 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java @@ -57,7 +57,6 @@ public class Robot extends OpModeRobot { new SingleFlywheelSim(intakeLauncher, "IntakeLauncher"); private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "Feeder"); - // [AllConfigs] /** * This function is run when the robot is first started up and should be used for any @@ -90,11 +89,14 @@ public Robot() { PersistMode.kPersistParameters); // [/MotorConfig] } + // [/AllConfigs] + // [DriveSimPeriodic] @Override public void simulationPeriodic() { drivetrainSim.periodic(); + // [/DriveSimPeriodic] intakeLauncherSim.periodic(); feederSim.periodic(); } diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts index 3aaf9a22..7c3399d5 100644 --- a/src/config/sidebarConfig.ts +++ b/src/config/sidebarConfig.ts @@ -114,6 +114,10 @@ export const sidebarSections: Record = { label: 'Kitbot Drivetrain', slug: 'learning-course/stage1/stage1a/kitbot-drivetrain', }, + { + label: 'Stage 1A Drivetrain Simulation', + slug: 'learning-course/stage1/stage1a/drivetrain-sim', + }, // { // label: 'TBD', // slug: 'stage-1a-commands/the-command-body', diff --git a/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx index d646f489..adcf3a0d 100644 --- a/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx @@ -5,15 +5,17 @@ prev: kitbot-drivetrain next: false --- +import { Tabs, TabItem } from '@astrojs/starlight/components'; + # Simulation -Its common to be write code without immediate access to a physical robot to test changes. +It's common to be write code without immediate access to a physical robot to test changes. Luckily, your computer can also run robot code allowing it to be tested without a robot. While there is some things that can be tested by simulating pure robot code, there are no physical motors to move and respond with new positions. Instead we use simulation classes that use physics to take the desired input voltage to the motors and estimate how the physical mechanism would respond and update our motor controller instances to match. For this stage custom classes have been provided that abstract away much of this logic. -You can find these files under the `simulation` folder if you would would like to read the implementation. -You can also read the WPIlib docs on simulation at if you would like to learn more about simulation. +You can find these files under the `simulation` folder if you would like to read the implementation. +You can also read the [WPILib docs on simulation](https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/index.html) if you would like to learn more about simulation. # Drivetrain Sim @@ -42,7 +44,7 @@ The class will then publish the new drivetrain position so it can be viewed in A Robot code needs to be run in a loop so that it can continually make new commands to motor controllers based on new controller and sensor input. To accomplish this Periodic Methods are provided in the `Robot` class and `OpMode` classes. Periodic methods get called every 20ms by default causing any code placed inside of them to be ran 50 times per second. -There are also periodic methods for specific robot states. +Additional periodic methods exist that only run during specific robot states. For example, the `teleopPeriodic()` function will only be called when teleop mode is selected on the driverstation. At the moment the `DrivetrainSim` will not actually do anything because it is not being told to update periodically. @@ -51,13 +53,13 @@ To fix this, the `DrivetrainSim`'s `periodic()` function should be called inside - ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DrivetrainInstance + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveSimPeriodic ``` - ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DrivetrainInstance + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java#DriveSimPeriodic ``` diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index be8c1f2e..913c7234 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -208,7 +208,7 @@ Remember that some of the configurations may be different. ADD IMAGE OF LABELED JOYSTICK FOR ARCADE DRIVE PLS -There are several ways to control a tank drive, but this stage will be using arcade drive. +While there are several ways to control a tank drive, this stage will be using arcade drive. Arcade drive uses a single joystick to control both the direction of travel and the rotation of the robot. The y-axis of the joystick is used to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. WPIlib provides a class to convert joystick inputs into commands for the motors to follow called `DifferentialDrive`. From 92fd0ddd83c16c4d3af0634545df24170c13d862 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Mon, 3 Aug 2026 13:47:32 -0500 Subject: [PATCH 21/25] Teleop Opmode --- .../java/first/robot/opmode/MyTeleop.java | 5 ++ .../java/first/robot/opmode/MyTeleop.java | 5 ++ .../stage1/stage1a/kitbot-drivetrain.mdx | 64 ++++++++++++++++++- 3 files changed, 72 insertions(+), 2 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java index 316f7dce..abedfdb6 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java @@ -13,17 +13,22 @@ @Teleop public class MyTeleop extends PeriodicOpMode { private final Robot robot; + // [Controller] private final NiDsXboxController xboxController = new NiDsXboxController(0); + // [/Controller] + /** The Robot instance is passed into the opmode via the constructor. */ public MyTeleop(Robot robot) { this.robot = robot; } + // [DrivetrainPeriodic] @Override public void periodic() { /* Called periodically (set time interval) while the robot is enabled. */ robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX()); + // [/DrivetrainPeriodic] if (xboxController.getRightBumperButton()) { // shoot diff --git a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java index 09fd6ab1..38d257df 100644 --- a/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java +++ b/examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java @@ -13,15 +13,20 @@ @Teleop public class MyTeleop extends PeriodicOpMode { private final Robot robot; + // [Controller] private final NiDsXboxController xboxController = new NiDsXboxController(0); + // [/Controller] + public MyTeleop(Robot robot) { this.robot = robot; } + // [DriveSimPeriodic] @Override public void periodic() { robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX()); + // [/DriveSimPeriodic] if (xboxController.getRightBumperButton()) { // shoot diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 913c7234..8f344cb2 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -319,5 +319,65 @@ The constructor for your `Robot` class should look like this: And VS code should not be giving you any errors. -And with that you've written all the code necessary in a the `Robot` class for a physical robot! -In the next section, simulation will be added so the code can be ran and tested on a computer. +# OpModes + +`OpMode`s are a class that registers itself with the driverstation providing a name and robot mode (autonomous, teleop, or utility). +This allows the robot to run different code based on what is selected on the driverstation. +This stage will use classes that extend `PeriodicOpMode.` +By extending `PeriodicOpMode` these classes gain a few useful functions that are only called when the OpMode is selected on the driverstation. + +- `start()` is called once when the robot transitions from disabled to enabled. +- `periodic()` is called repeatedly when the robot is enabled. +- `end()` is called once when the robot transitions from enabled to disabled. +- `disabledPeriodic()` is called repeatedly when the robot is disabled. + Further information about OpModes can be found in [this blog post](https://zharel.me/blog/opmodes/) if you would like to learn more. + +Two blank `PeriodicOpMode`s, `MyTeleop.java` and `MyAuto.java` are provided under the `opmode` folder. + +To control the robot with joysticks a Teleop OpMode needs to be created that periodically gives the `DifferentialDrive` instance new values from the controller. +First a instance of `NiDsXboxController` needs to be created. +This class has functions that provide the state of different buttons on the controller. +Multiple controllers can be used at once so the driverstation gives each a slot. +The index provided in the constructor tells the `NiDsXboxController`which slot to listen too. + + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java#Controller + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java#Controller + ``` + + + + + + + +Next, the `periodic()` method inside of `MyTeleop.java' will be used to continually update the `DifferentialDrive`index through the`arcadeDrive`function. +The`MyTeleop`class has the`Robot`class as a parameter in its constructor. +This allows the Opmode to access the methods and fields of the`Robot` class. + + + + + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java#DrivetrainPeriodic + ``` + + + + + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java#DrivetrainPeriodic + ``` + + + + From 04dfc33b6643dfea20f5668588d0f06de228c5ad Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Mon, 3 Aug 2026 14:09:56 -0500 Subject: [PATCH 22/25] Fix my silly mistakes --- .../ctre/src/main/java/first/robot/opmode/MyTeleop.java | 4 ++-- pnpm-lock.yaml | 8 ++++---- .../learning-course/stage1/stage1a/kitbot-drivetrain.mdx | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java index abedfdb6..7c849cfa 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java @@ -23,12 +23,12 @@ public MyTeleop(Robot robot) { this.robot = robot; } - // [DrivetrainPeriodic] + // [DriveSimPeriodic] @Override public void periodic() { /* Called periodically (set time interval) while the robot is enabled. */ robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX()); - // [/DrivetrainPeriodic] + // [/DriveSimPeriodic] if (xboxController.getRightBumperButton()) { // shoot diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml index 2256b1f2..c34ead41 100644 --- a/pnpm-lock.yaml +++ b/pnpm-lock.yaml @@ -47,7 +47,7 @@ importers: version: 4.0.4 '@vvago/vale': specifier: ^3.16.0 - version: 3.16.0 + version: 3.17.0 astro-eslint-parser: specifier: ^1.4.0 version: 1.4.0 @@ -1278,8 +1278,8 @@ packages: '@vscode/l10n@0.0.18': resolution: {integrity: sha512-KYSIHVmslkaCDyw013pphY+d7x1qV8IZupYfeIfzNA+nsaWHbn5uPuQRvdRFsa9zFzGeudPuoGoZ1Op4jrJXIQ==} - '@vvago/vale@3.16.0': - resolution: {integrity: sha512-Cm5cW8bEsnXQHqJDcwWtrONtbpNxA41gpp/YNRLmax8Wn+lWg0YROmk4zs3VAldQ813QOARqoUfZIbUVp2LOzw==} + '@vvago/vale@3.17.0': + resolution: {integrity: sha512-vzVFOzr0y9dbXfHqnpgfs8juCflYZpqDmbNyUqdjuTzfNuATtzthTRrqE67RZt5N51FBkJiv58vFjc6ySVgjjg==} hasBin: true abbrev@2.0.0: @@ -5204,7 +5204,7 @@ snapshots: '@vscode/l10n@0.0.18': {} - '@vvago/vale@3.16.0': + '@vvago/vale@3.17.0': dependencies: rimraf: 6.1.3 tar: 7.5.22 diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 8f344cb2..7faefdb2 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -369,13 +369,13 @@ This allows the Opmode to access the methods and fields of the`Robot` class. - ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java#DrivetrainPeriodic + ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java#DriveSimPeriodic ``` - ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java#DrivetrainPeriodic + ```java stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java#DriveSimPeriodic ``` From 786020dd634074a7e93d945de44eaf778d749b94 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Mon, 3 Aug 2026 21:38:36 -0500 Subject: [PATCH 23/25] Tutorial to Sim GUI and Ascope --- .../stage1/stage1a/importLayout.webp | Bin 0 -> 44482 bytes .../stage1/stage1a/robotMode.webp | Bin 0 -> 7288 bytes .../stage1/stage1a/simGUIscreen.webp | Bin 0 -> 46350 bytes .../stage1/stage1a/simulateSelection.webp | Bin 0 -> 89710 bytes .../stage1/stage1a/wpilibIcon.webp | Bin 0 -> 88150 bytes 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Since there are 2 motors on each side of the drivetrain, its important to ensure that the each of the motors on a side move in sync with eachother. This can be accomplished by telling one of the motor controllers to follow the other. @@ -206,11 +206,15 @@ Remember that some of the configurations may be different. # Arcade Drive -ADD IMAGE OF LABELED JOYSTICK FOR ARCADE DRIVE PLS + While there are several ways to control a tank drive, this stage will be using arcade drive. -Arcade drive uses a single joystick to control both the direction of travel and the rotation of the robot. -The y-axis of the joystick is used to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. +Arcade drive uses the y-axis of a joystick to control how fast the robot drives forward or backward while the x-axis controls how fast the robot rotates clockwise or counter clockwise. WPIlib provides a class to convert joystick inputs into commands for the motors to follow called `DifferentialDrive`. An instance of `DifferentialDrive` should be created under where the motor controllers were declared. From 4af7813aba27af1e0e24c4b711c08fcc321ad5c6 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 4 Aug 2026 20:47:07 -0500 Subject: [PATCH 25/25] more fixes --- .../ctre/src/main/java/first/robot/Robot.java | 2 +- .../stage1/stage1a/kitbot-drivetrain.mdx | 12 +++++++++--- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java index a62663a2..6dcede69 100644 --- a/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java +++ b/examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java @@ -84,7 +84,7 @@ public Robot() { var rightConfig = new TalonFXConfiguration(); rightConfig.MotorOutput.withInverted(InvertedValue.CounterClockwise_Positive); rightLeader.getConfigurator().apply(rightConfig); - rightFollower.getConfigurator().apply(leftConfig); + rightFollower.getConfigurator().apply(rightConfig); rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); // [/MotorConfig] diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 8d6cc80d..562cec02 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -89,12 +89,18 @@ Now try creating the right motor controllers on your own.

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will start simulating your ode and open the Sim GUI in a new tab pictured below. +Your code will continue running until the Sim GUI is closed. + + + +The most important boxes in the Sim GUI are as follows... + +- `Robot State` is the most important box because it allows you to select robot mode, Opmode, and enabled state. +- `FMS` allows you to select alliance side and station while the robot is in the Disconnected mode. +- `Other Devices` shows information about created sim devices and allows you to change some of their values. + +To view the robot, First open AdvantageScope. +It should come installed with your WPILib install. +Then, open the File menu and select Import Layout and select the `AdvantageScopeLayout.json` file in your robot project. + + + +After importing the layout, open the File menu and select Connect To Simulator then NetworkTables4 (AdvantageScope). +AdvantageScope should now be connected to the robot simulation. +If AdvantageScope still says Searching, ensure that the robot code is still being simulated and that you selected the correct button. + + + +Now go back to the Sim GUI. +In the `Robot State` box select Teleop. +Then pick `MyTeleop` from the dropdown and enable the robot. +You should now be able to control the robot with WASD on the keyboard while the Sim GUI is in focus. +In the Field 2d tab of AdvantageScope you should be able to see the robot move. 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Drivetrain', + label: 'Stage 1A Kitbot Drivetrain', slug: 'learning-course/stage1/stage1a/kitbot-drivetrain', }, { diff --git a/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx index e5eab108..890ac607 100644 --- a/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/drivetrain-sim.mdx @@ -80,7 +80,7 @@ To actually run the code use the WPILib Icon in the top left to open the command @@ -89,7 +89,7 @@ Then search for Simulate and select `WPILib: Simulate Robot Code`. @@ -101,7 +101,7 @@ Your code will continue running until the Sim GUI is closed. @@ -118,8 +118,8 @@ Then, open the File menu and select Import Layout and select the `AdvantageScope After importing the layout, open the File menu and select Connect To Simulator then NetworkTables4 (AdvantageScope). @@ -129,7 +129,7 @@ If AdvantageScope still says Searching, ensure that the robot code is still bein diff --git a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx index 7faefdb2..8d6cc80d 100644 --- a/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx +++ b/src/content/docs/learning-course/stage1/stage1a/kitbot-drivetrain.mdx @@ -52,7 +52,7 @@ This is how the motor controller objects for the left motors will look. ```java stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java#DriveMotorsLeft ``` -For the CTRE code, the CAN ID of the leader motors are stored as a variable since they will be used later on to tell the follower what motor controller to follow. +For the CTRE code, the CAN ID of the leader motors are stored as a variable since they will be used later on to tell the follower which motor controller to follow. This helps prevent errors from occurring by ensuring that there is a single source of truth for the correct CAN ID. Additionally, CTRE uses a CANBus object to store the CANBus instead of just an integer. @@ -100,15 +100,15 @@ the configurations that need to be added and their proper values.

+ +# Motor Controller Configuration + Motor Controllers have many settings that can be changed such as IDs, motor -types, and limits. Vendors provide +types, and limits. +Vendors provide software, such as REV's REV Hardware Client 2 and CTRE's Phoenix Tuner X, to run -and configure their devices from a computer. However, it is recommended to +and configure their devices from a computer. +However, it is recommended to configure devices through code to ensure that all motor controllers are properly -configured. This is especially useful because it can be easy to forget all of +configured. +This is especially useful because it can be easy to forget all of the configurations that need to be added and their proper values.