FRC Java for Robotics Introduction Team 1279 ColdFusion January 8, 2011

NetBeans IDE Full featured development environment –Edit –Build –Debug –Deploy Bundled with the latest Java SE JDK FRC plug-ins for WPILibJ

Advantages Widely Used –AP Test means school support Many Resources –Books –Websites –Mentors Economical –Free and can run on older hardware under Linux Early in its life

Disadvantages New to FIRST –Still Bugs & Rough Edges –Teams have, at most,1 season of experience Fewer Robotics resources –Not much existing code –CAN not up to C++ Not 100% standard Java –Based in Java ME –No formatted output (yet)

Sample Code Walk-through Example from SimpleRobotTemplate –Check IterativeRobot too –Good Sample code Described in the Getting Started Guide –Still a typo or two –Suggest everyone new try it

Sample Code I The File Environment Package groups related classes together package edu.wpi.first.wpilibj.templates; Import pulls in other classes import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.SimpleRobot; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.Joystick;

Sample Code II Your Robot Class Derived from the sample Don’t change the name! public class Team1279Robot extends SimpleRobot { private RobotDrive drivetrain; private Joystick leftStick; private Joystick rightStick;

Sample Code III The Constructor Called Once when Class object is Instantiated Create and Initialize Instance Objects and Variables public Team1279Robot() { // create RobotDrive drivetrain = new RobotDrive(1, 2); // and joysticks leftStick = new Joystick(1); rightStick = new Joystick(2); }

Sample Code IV Methods Called by FMS Don’t Change These! Called by the Field Management System public void autonomous() { public void OperatorControl() {

Sample Code V autonomous() for (int i = 0; i < 4; i++) { //note turning rate and size of square is different //for every robot, adj delay, speed,turn for yours drivetrain.drive(0.5, 0.0); //50% fwd 0% turn Timer.delay(2.0); // wait 2 seconds drivetrain.drive(0.25, 0.75); //25% fwd 75% turn Timer.delay(1.0); // wait 1 second } drivetrain.drive(0.0, 0.0); //0% fwd 0% turn (stop)

Sample Code VI operatorControl() while (isOperatorControl() && isEnabled()) { // drive w/joysticks drivetrain.tankDrive(leftStick,rightStick); Timer.delay(0.05); }

Javadocs

Debugging println Output –Console –Debugger –Files NetBeans Debugger –Main Project only –Set at least 1 breakpoint –Download debug code –Debugger now attaches automatically

Resources The reference guide for this presentation on the NJ/NY FIRST website WPI website FIRST website