6 min read > Article > Joyce Yang > 4/1/22

INTRODUCTION

FRC Programming can be confusing at first because instead of just writing code and running it on your local machine to print some kind of output or view a tangible, usually numerical result, hardware is now put into the mix. While the end goal is clear (drive the robot, move its subparts, follow a path), the “how” can get a bit complex. In short, FRC Programming encapsulates both hardware and software components that are tied together by programming languages to make robot's perform certain actions.

WHAT WE DO

Basic driving controls and controls, autonomous actions, and sensor feedback are possible with FRC programming. For example, we can map buttons to various controls and program the Robot to drive using joysticks. It is also possible to have the robot perform actions without controls based on time. Sensor feedback can be done with components such as encoders and gyros; advanced programming uses the feedback to control or plan robot movement. It's important to note that robot actions build on top of each other that almost all parts of a Robot program is interconnected with each other.

COMPONENT INTRODUCTION

What exactly does the Programming committee program? For FRC, we mainly code the robot's main "computer" called the RoboRIO; it controls the common sensors and actuators used in advanced robotics applications. Sensors essentially allow the robot to get feedback about its environment and use this information to improve robot movement or complete certain tasks. Other hardware components that are involved in FRC programming include the CTRE Power Distribution Panel (PDP), OM5P-AC Radio, CTRE Pneumatics Control Module, Motor Controllers, and much more. Some examples of software components include Visual Studio Code, FRC Driver Station, Smart Dashboard, FRC roboRIO Imaging Tool, and Pathweaver. These components will be introduced in more depth in each section.

PROGRAMMING LANGUAGES

This guide is centered around Java, but other languages can also be used, namely C++/C. Java is a high-level, class-based, object-oriented programming language. Let’s break that down. A “high-level” programming language is one with strong abstraction from the details of the computer. Meaning, the computer understands instructions in machine language (1’s and 0’s) but we write in a more human-intuitive language (Java) that is translated into what the computer can understand. “Object-oriented programming” (OOP) is a programming model that organizes design around data rather than logic and functions; this will become more clear with examples. “Class-based” is simply a style of OOP in which inheritance happens through defining classes of objects, instead of inheritance occurring through the objects alone. Inheritance, classes, and objects will also be clarified, but this is a brief description to just distinguish Java from other programming languages. It’s important to have a solid Java (or C++ if that is the language being used) foundation because it would be frustrating to wrangle with syntax errors or conceptual gaps while trying to debug a very niche error.

HOW TO USE FRC WIKI

These pages are designed to give a quick look into all the moving parts when it comes to FRC programming and help beginner students gain fundamental knowledge of Robot code and logic. Veterans can use this to brush up their knowledge or find out more about exactly how FRC programming works if you're visiting from other committees. Cool things happen when things work! And, it’s pretty interesting to learn about how we can write in a language that can make a 120 pound robot come to life. Hopefully, this guide to FRC Programming and Java is helpful; we’ve included everything from basic syntax (important!) to how WPILib classes are used to code subsystems. Each section has a collection of slides, lesson plans, and documentation that can be used for general information checks or used to teach rookies FRC programming in an organized, comprehensive format. Slides may be accompanied by videos made by students and approved by mentors. Happy coding!