Recent Updates
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Updated on: Jan 20, 2023
Installing the Java development tools
The development tools necessary for building Java robot programs consist of the Java Software Developers Kit, Netbeans (the Interactive Development Environment), and the FRC Plugins for Netbeans that add the necessary FRC specific components.
We have been testing with Java SE SDK version 7+ and NetBeans version 7.2, 7.3, and 7.4. While we believe everything will work with previous versions we have not tested all the combinations. We suggest that you upgrade earlier versions to these to ensure you are running on a tested combination.
If you already have Netbeans installed, skip down to "Un-installing the previous version of the plugins".
Manual Getting started with Java -
Updated on: Jan 20, 2023
Writing the code for a PIDSubsystem in C++
PIDSubsystems use feedback to control the actuator and drive it to a particular position. In this example we use an elevator with a 10-turn potentiometer connected to it to give feedback on the height. The skeleton of the PIDSubsystem is generated by the RobotBuilder and we have to fill in the rest of the code to provide the potentiometer value and drive the motor with the output of the imbedded PIDController.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Writing the code for a command in C++
Manual RobotBuilder -
Updated on: Jan 20, 2023
Generating C++ code for a project
Adding code to create an actual working subsystem is very straightforward. For simple subsystems that don't use feedback it turns out to be extremely simple. In this section we will look at an example of a Claw subsystem that operates the motor for some amount of time to open or close a claw on the robot arm.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Operating a PIDSubsystem from a command in Java
A PIDSubsystem will automatically control the operation of an actuator with sensor feedback. To actually set the setpoints for the subsystem use a command since commands can be controlled over time and put together to make more complex commands. In this example we move the Elevator subsystem to the pickup (BOTTOM) position. To create the PIDSubsystem for the elevator see: Making a subsystem with feedback from sensors and Writing the code for a PIDSubystem in Java
Manual RobotBuilder -
Updated on: Jan 20, 2023
Writing the code for a PIDSubystem in Java
PIDSubsystems use feedback to control the actuator and drive it to a particular position. In this example we use an elevator with a 10-turn potentiometer connected to it to give feedback on the height. The skeleton of the PIDSubsystem is generated by the RobotBuilder and we have to fill in the rest of the code to provide the potentiometer value and drive the motor with the output of the imbedded PIDController.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Writing the code for a simple command in Java
Subsystem classes get the mechanisms on your robot moving, but to get it to stop at the right time and sequence through more complex operations you write Commands. Previously in Writing the code for a subsystem in Java we developed the code for the Claw subsystem on a robot to start the claw opening, closing, or to stop moving. Now we will write the code for a command that will actually run the Claw motor for the right time to get the claw to open and close. Our claw example is a very simple mechanism where we run the motor for 1 second to open it or 0.9 seconds to close it.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Writing the code for a subsystem in Java
Adding code to create an actual working subsystem is very straightforward. For simple subsystems that don't use feedback it turns out to be extremely simple. In this section we will look at an example of a Claw subsystem that operates the motor for some amount of time to open or close a claw on the robot arm.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Generating Netbeans project files
After you start getting a significant part of your robot designed in RobotBuilder you can generate a Java project for use with Netbeans. The code that is generated includes project files that will let you just open the project and start adding your robot specific code. In addition, if you later make changes in RobotBuilder, you can regenerate the project again and it will not overwrite your changes. This process is described in detail below.
Manual RobotBuilder -
Updated on: Jan 20, 2023
Using PIDSubsystems to control actuators with feedback from sensors
More advanced subsystems will use sensors for feedback to get guaranteed results for operations like setting elevator heights or wrist angles. The PIDSubsystem has a built-in PIDController to automatically set the correct setpoints for these types of mechanisms.
Manual RobotBuilder
