Public static int SERVO_PORT = 0 // PWM port for servo motor The servo motor should be connected to PWM port 0 and the code uses a Logitech F310 for the operator interface. The following is an example of a very simple Command Based Robot that has a single subsystem consisting of a servo motor with two positions: Open, Closed and they are selected using the A and B buttons on a gamepad. ScreenStepsLive has a very good example of how a program might look if programmed for TimedRobot and then the same program converted to CommandRobot you should review it here For example, when the X button is pressed on your controller run a command to launch a frisbee. However, it now creates and instance of the RobotContainer class that creates the robot subsystems, user interface objects(xbox controller, joysticks, etc.) and binds button presses to the activities (commands, command groups) that your robot will be performing. Robot.java still extends TimedRobot (the framework we've been using until now) and the methods robotInit(), robotPeriodic(), autonomousInit(), autonomousPeriodic(), teleopInit(), teleopPeriodic(). subsystems folder - where your Subsystems will be stored.commands folder - where your Commands will be stored.motor controller addresses) - may be called RobotMap Constants.java - where global constants are defined (e.g.RobotContainer.java - where the subsystems, commands, and button bindings are defined.Notice that in the project src folder, addition to the Main.java and Robot.java we're used to seeing, the project also has: preventing two commands from trying to control of the same subsystem at the same time).Ĭreate a new project in VSCode (WPILib Icon->Create a new project->Template->Java->Command Robot). The Command-Based framework helps organize all of this activity so that multiple things can be happening at the same time without interfering with each other (e.g.
the robot might be driving while throwing frisbees). More than one activity can be running at the same time (e.g. throwing a frisbee might require both the turret and the shooter). command groups represent behaviors: a set of activities that must be performed in a particular sequence (such as pointing a turret at a target, adjusting the elevation angle, and then throwing a frisbee into it).Ī given activity may require more than one subsystem (e.g.commands representing activities that can be done by one or more subsystem (e.g.subsystems representing physical parts of our robot: intakes, shooters, turrets, drivetrains, etc.You can read about it in ScreenStepsLive. WPILib provides a framework called Command Based Programming that helps with this. Improving cohesion and reducing coupling are key concepts in software engineering. As our robot programs become more complex, a framework is needed to help keep related functionality together ( cohesion) while preventing unrelated functions from becoming entangled ( coupling).
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