FRC Java for Robotics Introduction

1. FRC Java for RoboticsIntroduction Team 1279 ColdFusion November 6, 2010

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

3. 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

4. Disadvantages • New to FIRST • Still Bugs & Rough Edges • Teams have at most a few months on it • Fewer Robotics resources • Not much existing code • CAN not up to C++ • Not 100% standard Java • Based in Java ME • No formatted output (yet)

5. Sample CodeWalk-through • Example from SimpleRobotTemplate • Check IterativeRobot too • Good Sample code • Described in the Getting Started Guide • Still a typo or two • Example 7 • Suggest everyone new try it

6. Sample Code IThe 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;

7. Sample Code IIYour 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;

8. Sample Code IIIThe 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); }

9. Sample Code IVMethods Called by FMS • Don’t Change These! • Called by the Field Management System public void autonomous() { public void OperatorControl() {

10. Sample Code Vautonomous() 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)

11. Sample Code VIoperatorControl() while (isOperatorControl() && isEnabled()) { // drive w/joysticks drivetrain.tankDrive(leftStick,rightStick); Timer.delay(0.005); }

12. Javadocs

13. Debugging • println Output • Console • Debugger • Files • NetBeans Debugger • Main Project only • Set at least 1 breakpoint • Download debug code • Attach debugger

14. Resources • The reference guide for this presentation on the NJ/NY FIRST website • www.coldfusion1279.com • WPI website • FIRST website