Stage 1a curriculum Kitbot Drivetrain

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
@@ -27,47 +28,75 @@
  */
 public class Robot extends OpModeRobot {
 
+  // [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));
+  // [/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]
 
+  // [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));
+
   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.
    */
   public Robot() {
+    // [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]
   }
 
+  // [/AllConfigs]
+
+  // [DriveSimPeriodic]
   @Override
   public void simulationPeriodic() {
     drivetrainSim.periodic();
+    // [/DriveSimPeriodic]
     intakeLauncherSim.periodic();
     feederSim.periodic();
   }

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;
   }
 
+  // [DriveSimPeriodic]
   @Override
   public void periodic() {
     /* Called periodically (set time interval) while the robot is enabled. */
     robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX());
+    // [/DriveSimPeriodic]
 
     if (xboxController.getRightBumperButton()) {
       // shoot

examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java

@@ -17,48 +17,86 @@
 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]
   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);
+  // [/DriveMotorsRight]
 
+  // [DrivetrainInstance]
+  public final DifferentialDrive drivetrain =
+      new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
+  // [/DrivetrainInstance]
+
+  // [IMU]
   private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
+  // [/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);
 
   private SingleFlywheelSim intakeLauncherSim =
       new SingleFlywheelSim(intakeLauncher, "IntakeLauncher");
   private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "Feeder");
 
-  public final DifferentialDrive drivetrain =
-      new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
-
+  // [AllConfigs]
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   public Robot() {
-
-    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(
         rightConfig.follow(rightLeader),
         ResetMode.kResetSafeParameters,
         PersistMode.kPersistParameters);
+    // [/MotorConfig]
   }
 
+  // [/AllConfigs]
+
+  // [DriveSimPeriodic]
   @Override
   public void simulationPeriodic() {
     drivetrainSim.periodic();
+    // [/DriveSimPeriodic]
     intakeLauncherSim.periodic();
     feederSim.periodic();
   }

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

src/config/sidebarConfig.ts

@@ -99,6 +99,14 @@ export const sidebarSections: Record<string, SidebarSection[]> = {
                                     label: 'Stage 1A Introduction',
                                     slug: 'learning-course/stage1/stage1a/stage-overview',
                                 },
+                                {
+                                    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',