Advanced Programming

Documentation that is suited toward veteran teams. This includes content such as Path Planning and Kinematics.

• Vision Processing
  • Vision Introduction
  • Vision with WPILibPi
  • AprilTag Introduction
  • Vision on the RoboRIO
• Command-Based Programming
  • What Is “Command-Based” Programming?
  • Commands
  • Command Compositions
  • Subsystems
  • Binding Commands to Triggers
  • Structuring a Command-Based Robot Project
  • Organizing Command-Based Robot Projects
  • The Command Scheduler
  • A Technical Discussion on C++ Commands
  • PID Control in Command-based
  • Motion Profiling in Command-based
  • Combining Motion Profiling and PID in Command-Based
  • Passing Functions As Parameters
• Kinematics and Odometry
  • Introduction to Kinematics and The ChassisSpeeds Class
  • Differential Drive Kinematics
  • Differential Drive Odometry
  • Swerve Drive Kinematics
  • Swerve Drive Odometry
  • Mecanum Drive Kinematics
  • Mecanum Drive Odometry
• NetworkTables
  • What is NetworkTables
  • NetworkTables Tables and Topics
  • Publishing and Subscribing to a Topic
  • NetworkTables Instances
  • NetworkTables Networking
  • Listening for Changes
  • Writing a Simple NetworkTables Robot Program
  • Creating a Client-side Program
  • Migrating from NetworkTables 3.0 to NetworkTables 4.0
  • Reading Array Values Published by NetworkTables
• Path Planning
  • Notice on Swerve Support
• roboRIO
  • roboRIO Introduction
  • Imaging your roboRIO 1
  • Imaging your roboRIO 2
  • roboRIO Web Dashboard
  • roboRIO FTP
  • roboRIO User Accounts and SSH
  • roboRIO Brownout and Understanding Current Draw
  • Recovering a roboRIO using Safe Mode
  • Additional Help
• Advanced GradleRIO
  • Using External Libraries with Robot Code
  • Setting up CI for Robot Code using GitHub Actions
  • Using a Code Formatter
  • Gradlew Tasks
  • Including Git Data in Deploy
  • Using Compiler Arguments
  • Profiling with VisualVM
• Advanced Controls
  • A Video Walkthrough of Model Based Validation of Autonomous in FRC
  • Advanced Controls Introduction
  • Filters
  • Geometry Classes
  • System Identification
  • Controllers
  • Trajectory Generation and Following with WPILib
  • State-Space and Model Based Control with WPILib
  • Controls Glossary
• Convenience Features
  • Scheduling Functions at Custom Frequencies
  • Event-Based Programming With EventLoop