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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
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FRC Java for RoboticsIntroduction 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 CodeWalk-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 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;
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;
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); }
Sample Code IVMethods Called by FMS • Don’t Change These! • Called by the Field Management System public void autonomous() { public void OperatorControl() {
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)
Sample Code VIoperatorControl() while (isOperatorControl() && isEnabled()) { // drive w/joysticks drivetrain.tankDrive(leftStick,rightStick); Timer.delay(0.05); }
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 • www.coldfusion1279.com • WPI website • FIRST website